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ID : 11170

Current Limiting Function

This function sets compliance for individual axes. Limiting the torque of motors for individual axes realizes compliance. Use this function to prevent an excessive force applied to a robot or a work, or to avoid a down due to over load or over current.

Compatible Robot Models

This function is available to the following robot models and devices.

When Using the RC9 Robot Controller

Compatible robot models/devices Restrictions
VLA
  • Available only when the robot is floor-mounted.
  • Available only to the 1st axis.
Auxiliary axis (*1)
  • Available only to Sanyo R3E servo amplifier.

* 1: Even if a robot other than VLA is used, this function is available to auxiliary axes. However, the restriction on auxiliary axes in the table above will apply even if a robot other than VLA is used.

When Using the MC9 Series Controller

Compatible robot models/devices Restrictions
Auxiliary axis
  • Available only to Sanyo R3E servo amplifier.
  • Not available to robot axes.

When Connected to the RC8 Series Robot Controller

When the MC9 series controller is connected to the RC8 series controller, this function is available to the following RC8 series controller-compatible robot models and devices.

Compatible robot models/devices Restrictions
VM, VS, VS-6556/6577, VP (6-axis model)

-
Auxiliary axis
  • Not available to robot axes.

When Connected to the MC8 Series Robot Controller

When the MC9 series controller is connected to the MC8 series controller, this function is available to the following RC8 series controller-compatible robot models and devices.

Compatible robot models/devices Restrictions
Auxiliary axis
  • Not available to robot axes.

Precautions

When the current limiting function is used for an auxiliary axis, setting a lower value for the current limit by the “CurLmt” command may cause the axis to perform unexpected operation due to external forces such as the gravity applied to the motor.

When lowering the setting value, be sure to lower it gradually enough to prevent unexpected robot operation.

ID : 11170

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