Selecting Torque Limits; Internal Torque Limits - YASKAWA SGD7S Product Manual

6.7

Selecting Torque Limits

You can limit the torque that is output by the Servomotor.
There are four different ways to limit the torque. These are described in the following table.
Limit Method

Internal Torque Limits

External Torque Limits
Limiting Torque with TLIM
Data in Commands
Torque Limiting with P_CL
and N_CL in the Servo
Command Output Signals
(SVCMD_IO)*
*
Refer to the following manual for details.
Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
Note: If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the maxi-
mum torque of the Servomotor.
6.7.1

Internal Torque Limits

If you use internal torque limits, the maximum output torque will always be limited to the speci-
fied forward torque limit (Pn402) and reverse torque limit (Pn403).
• Rotary Servomotors
Forward Torque Limit
Setting Range
Pn402
Reverse Torque Limit
Setting Range
Pn403
*
Set a percentage of the rated motor torque.
Note: If the setting of Pn402 or Pn403 is too low, the torque may be insufficient for acceleration or deceleration of
the Servomotor.
(Output to the maximum torque is possible.)
The torque is always limited with the setting
of a parameter.
The torque is limited with an input signal
from the host computer.
The TLIM data in a command is used to set
*
the required torque limits.
The P_CL and N_CL signals in the servo
command output signals (SVCMD_IO) are
used to set the required limits.
Setting Unit
*
0 to 800
1%
Setting Unit
*
0 to 800
1%
Without Internal Torque Limits
Maximum torque
Speed
Outline
position control, or
Default Setting
800
Default Setting
800
With Internal Torque Limits
Torque limit
Pn402
t
Pn403

6.7 Selecting Torque Limits

6.7.1 Internal Torque Limits
Control Method Reference
6.7.1
Speed control,
torque control
6.7.2
Speed control or
–
position control
Speed control or
–
position control
Speed Position Torque
When Enabled Classification
Immediately Setup
Speed Position Torque
When Enabled Classification
Immediately Setup
Speed
t
6
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