Panasonic FP? Positioning Unit RTEX, Technical Manual

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13-4
13.3
65B
Torque Limit
The positioning unit RTEX supports a function (torque limit) to change the maximum torque for the AMP
in real time. The torque limit can be arbitrarily changed during the torque limit operation, however, note
that the torque cannot be changed in the home return operation.
The specified torque limit value is used as the maximum torque during the torque limit operation. Also,
the torque limit cannot be specified by the setting tool, Configurator PM. Data must be written into the
shared memory from the PLC in order to carry out the torque limit. Followings are the details of the
shared memory to carry out the torque limit.
Torque limit setting area (Shared memory, Bank 0)
Add-
ress
Name Descriptions
Default
value Setting
range
Unit
0D8H Torque limit enabled flag
Sets whether to enable or disable the
execution of the torque limit for each axis.
0H
0D9H
to
0DFH
Not used
0E0H Torque limit value of axis 1 Stores the torque limit value of axis 1. 3000 1 to 5000 0.1 %
0E1H Torque limit value of axis 2 Stores the torque limit value of axis 2. 3000 1 to 5000 0.1 %
0E2H Torque limit value of axis 3 Stores the torque limit value of axis 3. 3000 1 to 5000 0.1 %
0E3H Torque limit value of axis 4 Stores the torque limit value of axis 4. 3000 1 to 5000 0.1 %
0E4H Torque limit value of axis 5 Stores the torque limit value of axis 5. 3000 1 to 5000 0.1 %
0E5H Torque limit value of axis 6 Stores the torque limit value of axis 6. 3000 1 to 5000 0.1 %
0E6H Torque limit value of axis 7 Stores the torque limit value of axis 7. 3000 1 to 5000 0.1 %
0E7H Torque limit value of axis 8 Stores the torque limit value of axis 8. 3000 1 to 5000 0.1 %
Torque limit enabled flag
bit Name Default value Descriptions
0 Torque limit of axis 1 0
0: Torque limit disabled (Default)
1: Torque limit enabled
1 Torque limit of axis 2 0
2 Torque limit of axis 3 0
3 Torque limit of axis 4 0
4 Torque limit of axis 5 0
5 Torque limit of axis 6 0
6 Torque limit of axis 7 0
7 Torque limit of axis 8 0
15 to 8 - - -
Torque limit values of axes 1 to 8
bit Name Default value Descriptions
15 to 0 Torque limit value
3000 Sets the torque limit value.
The unit is (0.1%).
If 2000 is written in this area, it operates with “2000 x 0.1
= 200 (%)” as the maximum torque.
Reference: <17.4.7 Torque Limit Area>