LimitTorqueStop Statement

Enables or disables the function to stop the robot when the upper limit torque is reached in High power mode.

Syntax
(1) LimitTorqueStop status

(2) LimitTorqueStop status, jointNumber

(3) LimitTorqueStop

Parameters

Status

• On: Enables the function to stop the robot at the upper limit torque
• Off: Disables the function to stop the robot at the upper limit torque

jointNumber

Specify the joint number from 1 to 6. (For SCARA robots, joint numbers are from 1 to 4)

Result
Returns the current LimitTorqueStop status if the parameter is omitted.

Description
LimitTorqueStop enables the function to stop the robot at the upper limit torque value in High power mode. The robot immediately stops when it reaches the upper limit torque (default is 100%). Using this command together with the torque restriction function of LimitTorque provides the effect to reduce damage on the robot and peripherals at a collision in High power mode.

This function can be enabled or disabled for each joint or all joints. The default is “all joints off”.

The setting returns to the default at the Controller startup. In other cases, the setting does not change unless otherwise configured by this command explicitly.

When the upper limit torque is reached, Error 5040 “Motor torque output failure in high power state.” will be output and the robot will stop.

See Also
LimitTorque, LimitTorque Function

LimitTorqueStop Example
Following is the example which restricts the maximum torque of the Joint #1 at 30% and stops the robot immediately.

Function main
Motor On
Power high
Speed 20
Accel 20,20
LimitTorque 30,100,100,100    ' Restricts the maximum torque of the Joint #1 to 30%
LimitTorqueStop On, 1    ' Joint #1 immediately stops at the maximum torque
Go P1    ' Executes the Go motion
Fend