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Motion Control

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ASDA-A3

7

6. Referencing the torque limit.

This method uses the motor’s stop position as the origin by referring to: the limit on the

mechanical parts, the torque level detection (P1.087), and the level reached timer

(P1.088). You can also choose whether to use the Z pulse as the origin.

Motor

Protector

(a) Reverse to Z

Start point

Z Pulse

Torque curve

(Look for

hard stop)

Torque curve

(Look for Z

pulse)

(b) Do not look for Z

Start point

Torque curve

End

P1.087

P1.087

P1.088

Time

Time

End

P1.088

Time

Refer to the preceding figure for examples.

(a) If you set the servo to look for the Z pulse in the reverse direction, the servo operates

at high speed (first speed setting) and outputs a greater current to counter the external

force once it touches the protector. When the motor torque reaches the torque

detection level (P1.087) and the output duration is longer than the level reached timer

setting (P1.088), the servo operates in the reverse direction to look for the Z pulse at

low speed (second speed setting). Once the servo finds the Z pulse, it decelerates to a

stop, completing the homing procedure.

(b) If you set the servo not to look for the Z pulse, the servo operates at high speed (first

speed setting) until it touches the protector. Then the servo outputs a greater current

to counter the external force. When the motor torque reaches the torque detection

level (P1.087) and the output duration is longer than the level reached timer setting

(P1.088), the servo stops, completing the homing procedure.

Pay special attention when executing the Torque homing procedure. The motor’s actual

maximum torque output is 10% greater than the maximum torque limit setting (P1.087), and the

great impact may cause damage to the machine.

7-20

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