Mitsubishi Electric MELSEC-Q Series User Manual page 630

[1] Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various
controls.
Control type
Machine HPR control
HPR
control
Fast HPR control
1-axis linear control
2 to 4-axes linear
interpolation control
Position 1-axis fixed-feed control
control
2 to 4-axes fixed-feed
control (interpolation)
Major
2-axis circular interpolation
positioning
control
control
1 to 4-axes speed control
Speed-position switching control
Position-speed switching control
Current value changing
Other
JUMP instruction, NOP
control
instruction, LOOP to LEND
JOG operation, Inching operation
Manual
control
Manual pulse generator operation
Expansion
Speed-torque control
control
: Set when required (Set to " – " when not used.)
– : Setting not required (Use the initial value or a value within the setting range.)
: Shows the torque limit value when "[Cd.22] New torque value/forward new torque
1
value" or "[Cd.113] New reverse torque value" is set to "0".
2: Valid for the value set at start only. It cannot be changed during the HPR.
3: Refer to the servo amplifier instruction manual for the setting method.
Torque limit
function
–
–
13 - 26
Chapter 13 Control Sub Functions
Torque limit value
[RJ010 mode]
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
(After the "[Pr.47] Creep speed"
is reached, this value becomes
the "[Pr.54] HPR torque limit
value".)
[CiA402 mode]
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
The HPR method that can
change the torque limit value
during the HPR is set in HPR
parameters of the servo
*3
amplifier.
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
Setting value is invalid.
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
Torque limit value before
switching control mode is
continued.
*1
*2