IAI America XSEL-QX - Manual (Page 346)

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Part 4 Commands
[Example 1] LET 290 3 Set the target axis pattern (axes 1 and 2) in integer
variable 290.
LET 291 80 Set the steady-state torque limit in integer variable 291.
LET 292 1000 Set the detection time for steady-state torque limit over
error in integer variable 292.
ECMD 250 290 Read the values of three consecutive variables, starting
from variable 290:
Setting of axes 1 and 2
Steady-state torque limit: 80%
Detection time for steady-state torque limit over error:
10000 msec
MOVP 2 Move to position No. 2 under the condition set by
ECMD250.
* When reverting to a normal condition
[Example 2] LET 290 3 Set the target axis pattern (axes 1 and 2) in integer
variable 290.
LET 291 1000 Set the steady-state torque limit (upper limit specified
for each axis) in integer variable 291.
LET 292 20000 Clear the detection time for steady-state torque limit
over error in integer variable 292. (20000 = Clear)
STOP *290 Clear the low-torque axis deviation counter.
ECMD 250 290 Read the values of three consecutive variables, starting
from variable 290:
Setting of axes 1 and 2
Steady-state torque limit: Upper-limit value specified for
each axis (reverting to the maximum torque)
Detection time for steady-state torque limit over error
(20000 msec)
MOVP 2 Move to position No. 2 at the steady-state torque.
(Note 1) If a low torque is set, the load may drop (in the case of a vertical axis, etc.) or overshooting
may occur. If a low torque is set while the actuator is operating at high speed, overshooting will
occur due to insufficient torque.
(Note 2) If positioning operation is performed at a low torque, the actuator may stop near the target
position due to insufficient torque and remain stopped there.
(Note 3) When changing the torque setting from a very low level at which axis movement cannot be
guaranteed, to a high level, be sure to issue a STOP command to the low-torque axis before
the setting is changed to high torque (= while the torque is still low) in order to clear the
deviation counter.
(Note 4) When the setting of “steady-state (non-push) torque limit (upper limit)” or “detection time for
steady-state (non-push) torque limit over error” has been changed, the new setting will remain
effective even after the SEL program ends.
(Note 5) Even at a normal load, the torque becomes slightly higher during acceleration/deceleration.
Determine appropriate settings (steady-state torque limit and detection time for steady-state
torque limit over) so that a steady-state torque limit over will not be detected.