Omron XTRADRIVE User Manual page 79

XtraDrive User Manual
The following output signals and monitor methods are used when
torque is being limited.
Signal
/CLT
Monitor Mode (Un006)
Un005: Numbers 6 and 7 (with default
•
settings)
Un006: Depending on output signal
•
allocation conditions.
Application Examples:
• Forced stop
• Robot holding a workpiece
Parameter
Pn404 Forward External Torque Limit
Pn405 Reverse External Torque Limit
Set the torque limits when the torque is limited by an external contact
input.
Signal
/P-CL (CN1-45) Input
/N-CL (CN1-46) Input
See 5.2.9 Torque Limiting by Analog Voltage Reference.
Using /P-CL and /N-CL Signals
The procedure for using /P-CL and /N-CL as torque limit input signals
is illustrated below.
Generated when Pn50F.0 is allocated to an
output terminal from SO1 to SO3.
—
Refer to 7.1.6 Operation in Monitor Mode.
—
Signal
Range: 0 to 800
Default Setting: 100
Range: 0 to 800
Default Setting: 100
5-11
Chapter 5: Parameter Settings and Functions
Description
Setting (%)
Speed/Torque
Control, Position
Control
Speed/Torque
Control,
Position Control
Description
Pn404 torque limit applied.
Pn405 torque limit applied.
Control Mode