CHAPTER 4 PARAMETER

The enabled torque limit is described below.

(1) In case of position control and speed control (If PA2_57 is 0)

CONT signal *

State of each limit

Enabled torque limit

Torque

limit 1

Torque

limit 0

TL: TREF (analog torque limit)

CCW: Powering,

CW: Powering,

CW: Regeneration CCW: Regeneration

OFF

OFF No condition judgment

Forward rotation Reverse rotation

torque limit

torque limit

OFF

ON

TL ≥ Forward/Reverse rotation torque limit

Forward rotation Reverse rotation

torque limit

torque limit

TL < Forward/reverse rotation torque limit

TL

TL

Second torque limit ≥ Forward/Reverse rotation Forward rotation Reverse rotation

ON

OFF torque limit

torque limit

torque limit

Second torque limit < Forward/Reverse torque Second torque Second torque

4

limit

limit

limit

ON

ON

TL ≥ Second torque limit

Second torque Second torque

limit

limit

TL < Second torque limit

TL

TL

Add a positive voltage to TL. The negative voltage is limited to zero.

A negative setting is limited to zero.

If PA2_57 is 1, the torque limit is always the TL value.

(2) In case of torque control

The forward rotation torque limit and reverse rotation torque limit are followed.

(3) Torque limit for controlled stop action (under position or speed control) (If PA2_57 is 0)

CONT signal *

State of each limit

Enabled torque limit

Torque

limit 1

Torque

limit 0

TL: TREF (analog torque limit)

CW deceleration

stop

CCW deceleration

stop

OFF

OFF

ON

ON

OFF

ON

OFF

ON

Forward rotation torque limit ≥ Third

torque limit

Forward/Reverse rotation torque limit <

Third torque limit

TL, forward/reverse torque limit ≥ Third

torque limit

TL, forward/reverse torque limit < Third

torque limit

Second torque limit, forward/reverse

rotation torque limit ≥ Third torque limit

Second torque limit, forward/reverse

rotation torque limit < Third torque limit

TL, second torque limit ≥ Third torque

limit

TL, second torque limit < Third torque

limit

Third torque limit

Third torque limit

Forward rotation torque Reverse rotation torque

limit

limit

Third torque limit

Third torque limit

TL or forward rotation TL or reverse rotation

torque limit, whichever torque limit, whichever

is less

is less

Third torque limit

Third torque limit

Second torque limit or Second torque limit or

forward rotation torque, reverse rotation torque,

whichever is less

whichever is less

Third torque limit

Third torque limit

TL or second torque TL or second torque

limit, whichever is less limit, whichever is less

If PA2_57 is 1, the torque limit is always the TL value.

Extended Function Setting Parameter 4-83