LimitTorque Statement

Sets and displays the upper torque limit in the high-power mode.

Syntax
(1) LimitTorque AllMax

(2) LimitTorque j1Max, j2Max, j3Max, j4Max

(3) LimitTorque j1Max, j2Max, j3Max, j4Max, j5Max, j6Max

(4) LimitTorque

Parameters

AllMax

Specify the upper limit torque value for all axes in high power mode by an integer number representing the percentage of the maximum momentary torque of each axis

j #n Max

Specify the upper limit torque value for axis #n in high power mode by an integer number representing the percentage of the maximum momentary torque of axis #n.

Result
Returns the current LimitTorque value when the parameters are omitted.

Description
Sets the upper limit value of torque in high power mode. Normally, the maximum torque is set and there is no need to change this setting value. This statement is useful to restrict the torque not to exceed which is necessary for the specific motion in order to reduce damage to the manipulator and equipment caused by collision with peripherals. The upper limit value is a peak torque in specific motion measured by PTRQ with allowance considering the variation added (approximately 10%).

The torque lower than the upper limit value in Low power mode cannot be set for this command. The minimum values vary for models and joints. Obtain the setting value and confirm the actual upper limit value after setting the value.

In any of the following cases, LimitTorque becomes the default value.

• Controller startup
• Motor On
• SFree, SLock, or Brake is executed
• Reset or Reset Error is executed
• Task end by STOP switch or Quit All

Note

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• Too low LimitTorque setting

  LimitTorque restricts the torque for the specific motion with the set torque restriction value as the upper limit value, regardless of the size of torque necessary for the motion to be executed with the set acceleration/deceleration. Therefore, if the motion requires larger torque than the set upper limit value, the robot may not move properly and cause vibrational motion, noise, or position deviation error and overrun. Make sure to measure PTRQ before using the torque restriction function. If the above problems occur, set the upper limit value larger and adjust the value so that the manipulator can operate properly.

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See Also
LimitTorque Function, Power, PTrq, RealTorque

LimitTorque Statement Example
Following is the example which operates the manipulator with the maximum torque of the Joint #1 at 80%.

Function main
    Motor On
    Power high
    Speed 100; Accel 100,100
    LimitTorque 80,100,100,100    'Restricts the maximum torque of Joint #1 to 80%
    Jump P1                       'Executes the Jump motion
Fend