Refer to section 5.4 Limiting Torque of SIEPC72082904 Σ-V Series EtherCAT (CoE) Network Module User’s Manual.
Precautions for limiting torque:
1. A torque limit setting may result in insufficient torque during acceleration and deceleration.
2. Excessive Position Error Alarm Level Pn520 may need to be increased to prevent the alarm from occurring during normal operations. The excessive position error alarm in a torque limited situation may be due to insufficient torque available to perform the move within the position error level.
3. The SERVOPACK uses the set minimum torque from all of the torque limit methods to limit the output.
Regarding all torque limit methods:
1. Torque limit settings are applicable in all modes (Position, Speed, and Torque).
Limiting method 1: Torque limited by parameter setting only.
Applicable parameters:
• Pn402 (CoE object 2402h) Forward Torque Limit
• Pn403 (CoE object 2403h) Reverse Torque Limit
Setting these parameters enforces torque limit under the following conditions:
• The applied torque limit is directional. For example: If only one of the two parameters is set, torque is only limited in one of the two directions (forward or reverse).
The changes are effective immediately.
The parameters may be set through SigmaWin, Digital Operator, or EtherCAT.
The units are in % rated torque.
The default values are 800 (800% rated torque). However, the maximum torque of the servomotor (depends on the model) is applied whenever the value exceeds the maximum torque. For example: For a motor capable of 350% rated torque, the default setting of 800 does not mean the motor is torque limited to 800% rated torque. The default setting of 800 means the maximum torque of the servomotor (350% in this example) is applied.
Limiting method 2: Torque limit set by parameter enabled by I/O input signal.
Applicable parameters:
• Pn404 (CoE object 2404h) Forward External Torque Limit
• Pn405 (CoE object 2405h) Reverse External Torque Limit
• Pn50B.2 (CoE object 250Bh, 3rd rightmost Hexadecimal character) /P-CL Signal Mapping
• Pn50B.3 (CoE object 250Bh, 4th rightmost Hexadecimal character) /N-CL Signal Mapping
Setting these parameters enforces torque limit under the following conditions:
• A physical signal (/P-CL or /N-CL) must be triggered for the torque to be limited.
• The signal (/P-CL or /N-CL) must be assigned to a SERVOPACK input for the torque to be limited by the triggering of the signal.
• The applied torque limit is directional. For example: If only one of the two signals is triggered, torque is only limited in one of the two directions (forward or reverse), assuming the torque limit parameters (Pn404 [2404h], Pn405 [2404h]) have been set.
The changes to the torque limit parameters (Pn404 [2404h], Pn405 [2405h]) are effective immediately. However, the change to signal input assignment (Pn50B.2 [250Bh], Pn50B.3 [250Bh]) requires either (A) The use of User Parameter Configuration (CoE object 2700h) or (B) Storage to EEPROM then drive reset.
The parameters may be set through SigmaWin, Digital Operator, or EtherCAT.
The units of the torque limit parameters (Pn404 [2404h], Pn405 [2404h]) are in % rated torque.
The default values of the torque limit parameters (Pn404 [2404h], Pn405 [2404h]) are 800 (800% rated torque). However, the maximum torque of the servomotor (depends on the model) is applied whenever the value exceeds the maximum torque. For example: For a motor capable of 350% rated torque, the default setting of 800 does not mean the motor is torque limited to 800% rated torque. The default setting of 800 means the maximum torque of the servomotor (350% in this example) is applied.
Limiting method 3: Torque limit set by parameter enabled by command from controller.
Applicable parameters & objects:
• Pn404 (CoE object 2404h) Forward External Torque Limit
• Pn405 (CoE object 2405h) Reverse External Torque Limit
• CoE object 6040h, Controlword (PnB11)
Setting these parameters & objects enforces torque limit under the following conditions:
• Controlword (CoE object 6040h) bits 11 (Positive Torque Limit) and/or 12 (Negative Torque Limit) must be set to 1 for the torque to be limited.
• The applied torque limit is directional. For example: If only one of the two Controlword bits is set to 1, torque is only limited in one of the two directions (forward or reverse), assuming the torque limit parameters (Pn404 [2404h], Pn405 [2404h]) have been set.
The changes to the torque limit parameters (Pn404 [2404h], Pn405 [2404h]) and the Controlword (CoE object 6040h) are effective immediately.
The torque limit parameters (Pn404 [2404h], Pn405 [2404h]) may be set through SigmaWin, Digital Operator, or EtherCAT. However, the Controlword (CoE object 6040h) must be set through EtherCAT.
The units of the torque limit parameters (Pn404 [2404h], Pn405 [2404h]) are in % rated torque.
The default values of the torque limit parameters (Pn404 [2404h], Pn405 [2404h]) are 800 (800% rated torque). However, the maximum torque of the servomotor (depends on the model) is applied whenever the value exceeds the maximum torque. For example: For a motor capable of 350% rated torque, the default setting of 800 does not mean the motor is torque limited to 800% rated torque. The default setting of 800 means the maximum torque of the servomotor (350% in this example) is applied.
Limiting method 4a: Torque limit controlled from controller.
Applicable parameters & objects:
• PnB80 (CoE object 60E0h) Forward Torque Limit
• PnB82 (CoE object 60E1h) Reverse Torque Limit
• PnB94 (CoE object 2704:01h) Torque User Unit Numerator [Revision Number 6.00 and higher*]
• PnB96 (CoE object 2704:02h) Torque User Unit Denominator [Revision Number 6.00 and higher*]
* Refer to AN.MTN.06.ETHERCAT to determine how to read Revision Number.
Setting these parameters & objects enforces torque limit under the following conditions:
• The torque is limited according to the applied Torque User Units. For Revision Number 5.04 and below, Torque User Units is fixed at 0.1% rated torque. For all Revision Numbers, Torque User Units default is 0.1% rated torque.
• The applied torque limit is directional. For example: If only one of the two torque limit parameters is set, torque is only limited in one of the two directions (forward or reverse).
The changes to the torque limit parameters (PnB80 [60E0h], PnB82 [60E1h]) are effective immediately. However, a change to the Torque User Units (PnB94 [2704:01h], PnB96 [2704:02h]) requires either (A) The use of User Parameter Configuration (CoE object 2700h) or (B) Storage to EEPROM then drive reset.
The torque limit parameters (PnB80 [60E0h], PnB82 [60E1h]) may be set through SigmaWin, Digital Operator, or EtherCAT. However, the Torque User Units (PnB94 [2704:01h], PnB96 [2704:02h]) must be set through EtherCAT or Digital Operator until a version of SigmaWin can display those parameters (as of SigmaWin version 5.72, the parameters are not displayed).
The units of the torque limit parameters (PnB80 [60E0h], PnB82 [60E1h]) are in Torque User Units (PnB94 [2704:01h], PnB96 [2704:02h]).
The default Torque User Units (PnB94 [2704:01h], PnB96 [2704:02h]) is 0.1% rated torque.
The default values of the torque limit parameters (PnB80 [60E0h], PnB82 [60E1h]) are 8000 (800% rated torque if default Torque User Units are applied). The default torque limit parameter (PnB80 [60E0h], PnB82 [60E1h]) values are not automatically changed if Torque User Units are changed.
Also, the maximum torque of the servomotor (depends on the model) is applied whenever the value exceeds the maximum torque. For example: For a motor capable of 350% rated torque, the default setting of 800 does not mean the motor is torque limited to 800% rated torque. The default setting of 800 means the maximum torque of the servomotor (350% in this example) is applied.
Limiting method 4b: Torque limit controlled from controller.
Applicable parameters & objects:
• PnB38 (CoE object 6072h) Max Torque
• PnB94 (CoE object 2704:01h) Torque User Unit Numerator [Revision Number 6.00 and higher*]
• PnB96 (CoE object 2704:02h) Torque User Unit Denominator [Revision Number 6.00 and higher*]
* Refer to AN.MTN.06.ETHERCAT to determine how to read Revision Number.
Setting these parameters & objects enforces torque limit under the following conditions:
• The torque is limited according to the applied Torque User Units. For Revision Number 5.04 and below, Torque User Units is fixed at 0.1% rated torque. For all Revision Numbers, Torque User Units default is 0.1% rated torque.
• The torque limit is unidirectional.
The changes to the max torque parameter (PnB38 [6072h]) is effective immediately. However, a change to the Torque User Units (PnB94 [2704:01h], PnB96 [2704:02h]) requires either (A) The use of User Parameter Configuration (CoE object 2700h) or (B) Storage to EEPROM then drive reset.
The max torque parameter (PnB38 [6072h]) may be set through SigmaWin, Digital Operator, or EtherCAT. However, the Torque User Units (PnB94 [2704:01h], PnB96 [2704:02h]) must be set through EtherCAT or Digital Operator until a version of SigmaWin can display those parameters (as of SigmaWin version 5.72, the parameters are not displayed).
The units of the max torque parameter (PnB38 [6072h]) is in Torque User Units (PnB94 [2704:01h], PnB96 [2704:02h]).
The default Torque User Units (PnB94 [2704:01h], PnB96 [2704:02h]) is 0.1% rated torque.
The default value of the max torque parameter (PnB38 [6072h]) is the connected motor’s maximum torque (dependent on the motor model) in units of 0.1% rated torque. For example: The value of 3330 means the motor’s maximum torque is 333.0% rated torque.
The default max torque parameter (PnB38 [6072h]) value is not automatically changed if Torque User Units are changed. For example: If PnB96 [2704:02h] = 10, PnB94 [2704:01h] = 1, and PnB38 [6072h] has a default value of 3240, then the max torque applied is 324% rated torque. However, if PnB96 [2704:02h] = 100, PnB94 [2704:01h] = 1, and PnB38 [6072h] has a default value of 3240, then max torque applied is 32.40%.
Also, the maximum torque of the servomotor (depends on the model) is applied whenever the value exceeds the maximum torque. For example: For a motor capable of 350% rated torque, the setting for Max Torque (PnB38 [6072h]) of 6553.5% rated torque does not mean the motor is torque limited to 6553.5% rated torque. The setting of 6553.5% rated torque means the maximum torque of the servomotor (350% in this example) is applied.
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