LimitTorqueLP Statement
Sets and displays the upper torque limit in the low-power mode.
Syntax
(1) LimitTorqueLP AllMax
(2) LimitTorqueLP j1Max, j2Max, j3Max, j4Max
(3) LimitTorqueLP j1Max, j2Max, j3Max, j4Max, j5Max, j6Max
(4) LimitTorqueLP
Parameters
- AllMax
- Specify the upper limit torque value for all axes in low 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 low power mode by an integer number representing the percentage of the maximum momentary torque of axis #n.
Result
Returns the current LimitTorqueLP value when the parameters are omitted.
Displays the default value when the values are not changed by this command.
Description
Sets the upper limit value of torque in low power mode. Normally, the maximum torque is set and there is no need to change this setting value (the values vary depending on the robot models and axes. Approx. 15-60%). This command is useful to restrict the torque not to exceed which is necessary for the normal 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 the motion measured by PTRQ with allowance considering the variation added (40% is recommended). To apply the same value to a different robot, add a further 10-20% allowance.
The PTRQ value considers the default maximum torque in low power mode as 1.0. For example, when the default value before change is 27% and the value measured by PTRQ is 0.43, the upper limit value is as follows: 27% × 0.43 × 1.4 = 16.25. Then, round up the value and set 17.
The value lower than 5% or larger than the default value cannot be set for this command. If these values are set, the setting values lower than 5 will be rounded up to 5, and the values exceeding the default value will be rounded down to the default. For instance, when “LimitTorqueLP 100”, the values are returned to the default for all joints because the default value is always less than 100. Obtain the setting value and confirm the actual upper limit value after setting the value.
The LimitTorqueLP setting value is effective until the Controller is restarted.
Note
Too low LimitTorqueLP setting
LimitTorqueLP 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 position deviation error. Make sure to measure PTRQ before using the torque restriction function. If the above problem occurs, set the upper limit value larger and adjust the value so that the manipulator can operate properly.
See Also
LimitTorqueLP Function, PTRQ
LimitTorqueLP Example
Following is the example which operates the manipulator with the maximum torque of the Joint #1 at 10%.
Function main
Motor On
Power low
LimitTorqueLP 10,27,31,42 ' Restricts the maximum torque of the Joint #1 to 10%
' Set the default value for other axes
Go P1 ' Executes the Go motion
Fend