6.2 Torque Limiting Function
6-6
Torque Limit by Position/Speed Control Command
Torque limits can be specified using the following commands.
INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING, ZRET, VELCTRL
This method limits the torque to the value set for TLIM of the position/speed control command.
The torque limits operate based on parameter settings (i.e., Pn81F = n.
X
and Pn002 =
n.
X). (The torque limit is enabled for the default setting.)
The following table shows the operation when all of the three methods are used. The smallest
torque limit in each group will be applied.
*
The parameter numbers in parentheses are for linear servomotors.
When sending a command other than the commands that can specify torque limit, the last
torque limit specified by the TLIM field remains valid. During execution of the SV_OFF or TRQC-
TRL command, the torque limit specified by the TLIM field becomes invalid and the maximum
torque will be used as the limit.
Parameter
Meaning
Data Size
(Byte)
Setting
Range
Unit
Pn81F
n.
0
Reserved
2
0000h to
0001h
–
n.
1
(Factory
setting)
The settings of the TFF and TLIM fields of posi-
tion control commands are enabled.
Operation depends on the setting of Pn002 =
n.
X.
Pn002
n.
0
Reserved
2
0000h to
0003h
–
n.
1
(Factory
setting)
Forward and reverse torque limits based on
the setting of the TLIM field of the position/
speed control commands are enabled.
n.
2
Reserved
n.
3
Reserved
Pn002 =
n.
X
Forward Torque Limit
Reverse Torque Limit
When P_CL is set to 0 When P_CL is set to 1 When N_CL is set to 0 When N_CL is set to 1
1
Pn402 (Pn482)
*
TLIM
Pn402 (Pn482)
*
Common parameter
8C (Pn404)
TLIM
Pn403 (Pn483)
*
TLIM
Pn403 (Pn483)
*
Common parameter
8D (Pn405)
TLIM
