Mitsubishi Electric MELSEC iQ-R Series User Manual page 241

Setting method
• To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them
to the Motion module.
The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0].
Setting item
[Pr.17] Torque limit setting
value
The set details are validated at the rising edge (OFF  ON) of the positioning start signal [Y10].
Setting item
[Cd.101] Torque output setting
value
*1 Torque limit value: Will be an upper limit value of the torque change value. If a larger value has been mistakenly input for the torque
change value, it is restricted within the torque limit setting values to prevent an erroneous entry. (Even if a value larger than the torque
limit setting value has been input to the torque change value, the torque value is not changed.)
*2 Torque output setting value: Taken at the positioning start and used as a torque limit value. If the value is "0" or the torque limit setting
value or larger, the parameter "torque limit setting value" is taken at the start.
Refer to the followings for the setting details.
Page 411 Basic Setting,Page 512 Control Data
• The "torque limit value" set in the Motion module is set in "[Md.35] Torque limit stored value/forward torque limit stored
value" or "[Md.120] Reverse torque limit stored value".
CPU module
• The following table shows the storage details of "[Md.35] Torque limit stored value/forward torque limit stored value" and
"[Md.120] Reverse torque limit stored value".
n: Axis No. - 1
Monitor item
[Md.35] Torque limit stored value/forward
torque limit stored value
[Md.120] Reverse torque limit stored value
Refer to the following for information on the storage details.
Page 479 Monitor Data
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Setting Setting details
value

Set the torque limit value
Setting Setting details
value

Set the torque output value in 0.1% unit.
*2
Motion module
buffer memory
[Pr.17] Torque limit setting value
[Cd.22] New torque value/
forward new torque value
[Cd.113] New reverse torque value
[Cd.101] Torque output setting value
[Md.35] Torque limit stored value/
forward torque limit stored value
[Md.120] Reverse torque limit stored value
Monitor
value


search engine
*1
in 0.1% unit.
Positioning control
Torque limit value
Storage details
The "torque limit value/forward torque limit stored value"
valid at that time is stored. ([Pr.17], [Cd.101], or [Cd.22])
The "reverse torque limit stored value" is stored
depending on the control status. ([Pr.17], [Cd.101],
[Cd.22], or [Cd.113])
Factory-set initial value
3000
Factory-set initial value
0
Servo amplifier
Buffer memory address
Axis 1 to axis 16
2426+100n
2491+100n
8 CONTROL SUB FUNCTIONS
8.3 Functions to Limit the Control
8
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