T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW
PAGE 6-32
6.7.1.4 Programmable Torque Limiting in Torque Mode
The T200 uses the Automatic and Manual Torque Limits as described in Section 6.4.7 Automatic and Manual Power
Settings, under the control of the AUTO_MAN digital input.
6.7.1.5 Programmable Velocity Limiting in Torque Mode
In torque mode, the T200 uses the velocity limits. The T200 will try to ensure that the actual velocity never exceeds the
particular velocity limit which is effective at the time (which is selected from either the
Automatic_Mode_Velocity_Limit and Manual_Mode_Velocity_Limit depending upon the status of the AUTO_MAN
input). The limit plus 10% is used as shown in Figure 6.15. Velocity limiting is implemented by bringing the torque to
zero when the motor actual velocity exceeds the applicable Velocity_Limit. If the user continues to command large
accelerating torque, the, T200 will ramp the actual torque back up so that the actual velocity again increases to the limit.
Figure 6.15:- T200 Velocity Limiting Mechanism in Torque Mode
Torque applied, motor accelerates
Time
Motor Velocity
Velocity Limit +10%
Velocity Limit
Actual Torque
Torque Command
T200 goes into velocity limiting mode
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