Slave Object Map; Torque Limit Value Setting Range; Torque Limit Maximum Value Setting Range; Precautions - Mitsubishi Electric MELSEC iQ-R Series User Manual

Slave object map

When using the torque limit function in the "setting of the torque limit value used in the driver", assign the torque limit object to
the slave object setting. For details, refer to the following.
Page 41 Axis Assignment
• The number of significant digits after the decimal point differs depending on the ID assigned to the slave
object map. Values less than the number of significant digits are truncated.
• If the torque limit object has not been assigned to the slave object map, the torque limit value is imported by
the same unit as the command torque, because it is used only in the "control to suppress the command
torque in MC_TorqueControl, etc.". Since the torque limit value will not be sent to the driver, refer to each
drive unit manual for the torque limit value used by the driver.

Torque limit value setting range

Set the settings of AxisName.Cd.TorqueLimit_Positive and AxisName.Cd.TorqueLimit_Negative for each axis.
The setting values are used in the "setting of the torque limit value used in the driver" and the "control to suppress the
command torque in MC_TorqueControl, etc.".
The torque limit value can be changed by changing the setting values. For details, refer to the following.
Page 333 Torque Limit Value Change Function
When the power supply turns ON, the setting values of AxisName.PrConst.TorqueLimit_PositiveInitial and
AxisName.PrConst.TorqueLimit_NegativeInitial are stored. In this time, if AxisName.PrConst.TorqueLimit_PositiveInitial and
AxisName.PrConst.TorqueLimit_NegativeInitial are set with the larger value than AxisName.PrConst.TorqueLimit_Max, the
error "Out of Forward Direction Torque Limit Value Specification Range" (error code: 1A79H) or the error "Out of Reverse
Direction Torque Limit Value Specification Range" (error code: 1A7AH) will occur.
If a value outside the range is set during control execution, the warning "Out of Forward Direction Torque Limit Value
Specification Range Warning" (warning code: 0D09H) or the warning "Out of Reverse Direction Torque Limit Value
Specification Range Warning" (warning code: 0D0AH) will occur.
Control data
AxisName.Cd.TorqueLimit_Positive
AxisName.Cd.TorqueLimit_Negative

Torque limit maximum value setting range

Set the settings of AxisName.PrConst.TorqueLimit_Max for each axis.
The torque limit maximum value is used as the upper limit value of the torque limit.
Even if a big value is input erroneously when changing the torque limit value, the change will not be accepted, and erroneous
input is prevented. If a value outside the range is set, the error "Out of Parameter Range (Axis)" (error code: 1D80H) will
occur.
Parameter
AxisName.PrConst.TorqueLimit_Max
Set the upper limit value of the torque limit specified in the driver as the torque limit maximum value.
Both the positive direction torque limit value and the negative direction torque limit value are limited by
AxisName.PrConst.TorqueLimit_Max.

Precautions

When the axis control is stopped by torque limiting, the droop pulse will remain in the deviation counter. If the load torque is
eliminated, operation for the amount of droop pulses will be carried out. Note that the movement might start rapidly as soon as
the load torque is eliminated.
10 RELEVANT FUNCTIONS TO TORQUE
332
10.1 Torque limit
Setting range
 
0.0 (0%) Setting value AxisName.PrConst.TorqueLimit_Max
Setting range
0.0 (0%)  Setting value  1000.0 (1000%)