LimitTorqueStopLP Statement

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

Syntax
(1) LimitTorqueStopLP status

(2) LimitTorqueStopLP status, jointNumber

(3) LimitTorqueStopLP

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

Joint number

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

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

Description
LimitTorqueStopLP enables the function to stop the robot at the upper limit torque value in Low power mode. The robot immediately stops when it reaches the upper limit torque. Using this command together with the torque restriction function of LimitTorqueLP provides the effect to reduce damage on the robot and peripherals at a collision in Low 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 5041 “Motor torque output failure in low power state.” will be output and the robot will stop.

See Also
LimitTorqueLP, LimitTorqueLP Function

LimitTorqueStopLP Example
Following is the example which restricts the maximum torque of the Joint #3 at 15% and stops the robot immediately.

Function main
Motor On
Power low
LimitTorqueLP 20,27,15,42    ' Restricts the maximum torque of the Joint #3 to 15% ' Set the default value for other axes
LimitTorqueStopLP On, 3    ' Joint #3 immediately stops at the maximum torque
Go P1    ' Executes the Go motion
Fend