Table of Contents
134
TORQUE
Specifies/acquires the maximum torque command value
CAUTION
• If the specified torque
limit is too small, the axis
ma y n o t m ove . N eve r
enter within the robot
movement range to avoid
danger even though the
robot is in stop status .
I n t h i s c as e , p re ss t h e
emergency stop button
before proceeding with
the operation.
• I f t h e s p e c i fi e d va l u e
i s l e s s t h a n t h e ra t e d
torque, an error may not
occur even if the robot
strikes an obstacle.
MEMO
Functions
Format
TORQUE
[robot number]
Values
robot number .........................1 to 4 (If not input, robot 1 is specified.)
axis number ...........................1 to 6
expression ..............................1 to 100 (units: %)
Explanation
Changes the maximum torque command value of the specified axis to the
(MOVE or DRIVE statement, etc.) is executed. The parameter value does not change.
The conditions to cancel a torque limit are as follows.
• The TORQUE command for the same axis is executed.
• The controller power turned off and then on again.
• The axis polarity parameter is changed or the parameter is initialized.
• The servo is turned off.
The maximum torque command value becomes temporarily invalid in execution
below.
• Return- to-origin is in execution.
• The PUSH statement is in execution.
(only the torque value in the moving direction is changed to the value specified by
the PUSH statement, the value in the opposite direction is hold and not changed.)
After these movements, the value backs to the maximum torque command value
when a next movement command (MOVE statement, for example) is executed.
• The TORQUE statement limits the torque in the both (rotation and opposite) direction of axis,
whereas the PUSH statement limits the torque in its rotation direction only.
Format
TORQUE
[robot number]
Values
robot number .........................1 to 4 (If not input, robot 1 is specified.)
axis number ...........................1 to 6
Explanation
Acquires the maximum torque command value for the axis specified by
number>.
(axis number) =expression
(axis number)
TORQUE
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