Panasonic MINAS A6N Series, Operating Instructions Manual

Page: 311 / 495

5-65 Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
5
6. Application Functions
Adjustment
Torque Limit Switching Function
Outline
This function changes the torque limit value according to the operation direction or torque limit
switching command (TI_SW) of RTEX communication.
Applicable Range
This function can be applicable only when the following condition are satisfied.
Conditions under which
the Torque limit switching function is activated
Control Mode
•
Position control, velocity control
Others
•
Should be in servo-on condition
•
Parameters except for controls are correctly set, assuring that the motor
can run smoothly.
Related Parameter
Class No. Title Function
0 13 1st torque limit
You can set up the 1st limit value of the motor output
torque.
5 21
Selection of torque
limit
You can set up the torque limiting method.
Setup
value
TL_SW = 0 TL_SW = 1
Negative
direction
Positive
direction
Negative
direction
Positive
direction
1 Pr0.13
2 Pr5.22 Pr0.13 Pr5.22 Pr0.13
3 Pr0.13 Pr5.22
4 Pr5.22 Pr0.13 Pr5.26 Pr5.25
If 0 is set for this parameter, 1 is internally set.
5 22 2nd torque limit
You can set up the 2nd limit value of the motor output
torque.
5 23
Torque limit
switching setup 1
Set the rate of change (gradient) from value 1 to value
2 during torque limit change.
5 24
Torque limit
switching setup 2
Set the rate of change (gradient) from value 2 to value
1 during torque limit change.
5 25
Positive direction
torque limit
Set up positive direction torque limit upon receiving
torque limit switching.
5 26
Negative direction
torque limit
Set up negative direction torque limit upon receiving
torque limit switching.