Example 1

The maximum torque of a drive is to be reduced in the NC program regardless of the drive type. The limit value shall be passed in Nm related to the motor shaft.

The maximum permissible torque value is 6.5 Nm the minimum permissible values is 1.0 Nm.

For example the command is to be used to set the torque limit to 4.5 Nm.

#DRIVE WR SYN [AX=X KEY=TORQLIMIT VAL=4.5]

Torque scaling

To set up the torque scaling the following motor data is necessary:

Nominal torque of the motor: 7 Nm

Maximum torque of the motor: 15 Nm

Torque scaling of the motor in 0.1 % related to the maximum motor torque (This is a setup data of thedrive).

P-AXIS-00392 must be set to the nominal torque of the motor.

antr.acc_reference_value         7.0

In parameters P-AXIS-00325 and P-AXIS-00326 that value that has to be output to the drive in order to achive the nominal torque of the motor has to be entered.

With the given values:

So the values for parameters P-AXIS-00325 and P-AXIS-00326 are:

antr.torque_scale_num           4667
ntr.torque_scale_denom           10

Finally parameter P-AXIS-00401 has to be set up for torque scaling:

antr.function[0].scaling_type   TORQUE_DRIVE_SIDE

Limitation

The limit values have to be set up in P-AXIS-00408 and P-AXIS-00409.

Because the the scaling type is set to torque scaling, the limit values have also the be set in Nm.

antr.function[0].min_limit    1.0antr.function[0].max_limit    6.5

Parameterization of transmission

Variant 1:

SERCOS drive; the torque limit is set by writing the SERCOS parameter S-0-92 through the service channel.

The following axis parameters must be set in the axis parameter list:

antr.function[0].id             TORQLIMIT
antr.function[0].commu          ACYCLIC
antr.function[0].wr_ident[0]    S-0-92
antr.function[0].data_type      SGN16

Variant 2:

SERCOS drive; the torque limit is transferred in the cyclically transferred setpoint diagram.

The following axis parameters must be set in the axis parameter list:

antr.function[0].id             TORQLIMIT
antr.function[0].commu          CYCLIC
antr.function[0].wr_ident[0]    S-0-92
antr.function[0].data_type      SGN16
antr.function[0].startup_value  1000

A telegram element with the name "S-0-92" and the data type SGN16 must be configured in the cyclic telegram.

Variant 3:

Profidrive drive; the torque limit is transferred in the cyclic setpoint telegram in the "MOMRED" telegram element as a signed 16-bit value.

The following axis parameters must be set in the axis parameter list:

antr.function[0].id             TORQLIMIT
antr.function[0].commu          CYCLIC
antr.function[0].wr_ident[0]    MOMRED
antr.function[0].data_type      SGN16
antr.function[0].startup_value  1000

A telegram element with the name "MOMRED" and the data type SGN16 must be configured in the cyclic telegram.