IAI America XSEL-QX - Manual (Page 347)

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Part 4 Commands
(Note 6) An “Error No., C6B deviation overflow error” or “Error No., CA5, Stop deviation overflow error”
is sometimes detected before “Error No., 420, Steady-state (non-push) torque over error.” This
is normal.
(Note 7) When changing the torque setting to a high level from a low level at which axis movement can
no longer be guaranteed, be sure to issue a STOP command to the low-torque axis to clear the
deviation counter before changing to a high torque (while the torque is still low). If the torque
setting is changed from low to high while deviation pulses are still accumulated, control of axis
movement speed may be disabled and a dangerous situation may occur.
(Note 8) To return to a normal state (maximum torque), expressly specify “Steady-state (non-push)
torque limit (upper limit)” = 1000% and “Detection time for steady-state (non-push) torque limit
over” = 20000 msec.
* If a value greater than the upper limit of each axis is specified for “Steady-state (non-push)
torque limit (upper limit),” the upper limit of that axis (approx. 200 to 400%) will be set.
(Note 9) The following values are applied upon power ON reset, software reset or start of home return:
“Steady-state (non-push) torque limit (upper limit)” = Driver card parameter No. 40, “Maximum
torque limit (%)”
“Detection time for steady-state (non-push) torque limit over” = 20000 msec.
(Note 10) After the values of “Steady-state (non-push) torque limit (upper limit)” and “Detection time for
steady-state (non-push) torque limit over” are changed, the new settings will remain effective
even after the SEL program ends.
Accordingly, if you want to build a system by using this extended command, expressly set
“Steady-state (non-push) torque limit (upper limit)” and “Detection time for steady-state (non-
push) torque limit over” using extended commands in all SEL programs prior to the
commencement of each applicable operation. Do not assume the settings of “Steady-state
(non-push) torque limit (upper limit)” and “Detection time for steady-state (non-push) torque
limit over” will return to their original values when the applicable operation ends under other
program, because different settings of “Steady-state (non-push) torque limit (upper limit)” and
“Detection time for steady-state (non-push) torque limit over” will apply if the program is
aborted due to an error, etc., in which case unexpected problems may occur.
(Note 11) This extended command will not rewrite the value of Driver card parameter No. 40, “Maximum
torque limit” (main CPU flash memory) (inside the non-volatile memory).