IAI America XSEL-QX - Manual (Page 345)

321
Part 4 Commands
z ECMD250 (Set torque limit/detection time for torque limit over error)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ECMD 250
Axis
pattern
CC
[Function] Set the steady-state (non-push) torque limit (upper limit)/detection time for steady-state
(non-push) torque limit over error. The applicable parameter (it may be an internal
parameter) is changed temporarily using the data stored in the three consecutive integer
variables starting from the one corresponding to the integer variable number specified in
operand 2.
When operand 2 = n
Variable No. n: Target axis pattern (Decimal input)
* Examples of decimal input: 1 is input = Axis 1 only
2 is input = Axis 2 only
3 is input = Axes 1 and 2
7 is input = Axes 1, 2 and 3
15 is input = Axes 1, 2, 3 and 4
Variable No. n+1: Set value of steady-state (non-push) torque limit (upper limit)
(1% of the rated torque to the value set in Driver card parameter No.
40, “Maximum torque limit (%)”)
* If the specified value is greater than the upper limit specified for
each axis, the upper-limit value specified for each value will be
set.
Variable No. n+2: Set value of detection time for steady-state (non-push) torque limit
over error
(0 to 20000 msec)
* Set “1” or a greater value if you want to use this function to “detect
contact/heavy load” or move an axis.
* When 0 is set, the certification time becomes invalid (infinitely
long). This setting is mainly used to “limit the torque of the support
axis (horizontal only) upon engagement.” If 0 (infinitely long) is set,
the maximum value of “steady-state (non-push) torque limit (upper
limit)” will be limited to 70% to prevent overheating.
Variable No. n+3: Set to 0. (Reserved. * May be made accessible in the future.)
Variable No. n+4: Set to 0. (Reserved. * May be made accessible in the future.)
If the “steady-state (non-push) torque limit (upper limit)” value is
specified for the “detection time for steady-state (non-push) torque
limit over error” or longer in a steady state (non-push), an appropriate
process based on the following parameter will be performed. Note,
however, that if the “detection time for steady-state (non-push) torque
limit over error” is set to = 0 (infinitely long), the aforementioned
process based on the following parameter will not be performed.
All-axis parameter No. 19, “Processing type upon steady-state (non-
push) torque limit over error (priority on overload and other driver
errors)
0: Operation cancellation level error (recommended)
(Error No. 420, Steady-state (non-push) torque limit over
error)
1: Operation cancellation (The SEL command output part
remains OFF)