DecelerationTorqueLimit

DecelerationTorqueLimit

General

Functional Description

The parameter is used to set the torque limit in [Nm] on load side for a decelerated movement. During deceleration, the torque at the gearbox output is limited to the set value. With the value zero, the torque limit is deactivated. When the motor is running with constant velocity then the average value of AccelerationTorqueLimit and DecelerationTorqueLimit is used.

Depending on the set mode for torque limitation (set via TorqueLimitationMode parameter), the following applies when the defined value is reached:

oWith TorqueLimitationMode = 1 (acceleration dependent torque limitation mode), the motor current is limited depending on the present deceleration.

oWith TorqueLimitationMode = 2 (mechanical overload protection), the motor is switched torque free when the torque limit is exceeded (due to an overload). An optional filter can be configured via TorqueLimitationFilter.

NOTE: The parameter value is transferred from the master to the slave via the parameter channel of the Sercos at every access. Typically, this takes about 10 ms. However, up to 1 s can be realized due to the volume of data transferred on the parameter channel.