Panasonic MINAS A6 Series, Technical Reference

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Application Functions
6-2
6.1 Torque limit switching function
It is a function which changes a torque limit value by the direction of operation.
Applicable range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the Torque limit switching function is activated:
Control Mode

Position control mode, Velocity control mode, Full-closed control mode and Torque control mode (Note 1)
Others

Should be in servo-on condition

Parameters except for controls are correctly set, assuring that the motor can run smoothly.
(Note 1)
Settings other than Pr5.21=5 will be disabled during torque control, and Pr0.13 “1st torque limit” becomes enabled.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
0 13 B 1st torque limit 0 to 500 % You can set up the 1st limit value of the motor output torque.
5 21 B Selection of torque
limit 0 to 5 - You can set up the torque limiting method.
Setup
value Negative direction Positive direction
1 Pr0.13
2 Pr5.22 Pr0.13
3 Pr0.13
4 Pr5.22 Pr0.13
5 60E1h/68E1h 60E0h/68E0h
* If 0 is set for this parameter, 1 is internally set.

Only the setting Pr5.21=5 becomes enabled during torque control.
When Pr5.21=1 to 4, Pr0.13 is applied to the torque limit.
5 22 B 2nd torque limit 0 to 500 % You can set up the 2nd limit value of the motor output torque.
Related object
Index
Sub
Index
Name Description
Units Range
Data
Type
Access PDO
Op-
mode
EEPROM
6072h
/6872h
00h Max torque

Set the maximum torque.
If the value exceeds the maximum torque of
the motor is limited by the maximum torque of
the motor.
The maximum torque of the motor varies
depending on the motor applied.
0.1% 0 to
65535 U16 rw Yes ALL Yes
Torque command is limited at smaller one of 6072h and those effective for Pr0.13 and Pr5.22.