External Torque Limits - YASKAWA SGD7S Product Manual

6.7 Selecting Torque Limits

6.7.2 External Torque Limits

• Linear Servomotors
Pn483
Pn484
*
Set a percentage of the rated motor force.
Note: If the setting of Pn483 or Pn484 is too low, the force may be insufficient for acceleration or deceleration of the
Servomotor.
6.7.2

External Torque Limits

You can limit the torque only when required by the operating conditions of the machine by turn-
ing a signal ON and OFF.
You can use this for applications such as stopping on physical contact, or holding a workpiece
with a robot.
External Torque Limit Reference Signals
The /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit) signals
are used as the external torque limit reference signals. The /P-CL signal is used for the forward
torque limit and the /N-CL signal is used for the reverse torque limit.
Type
Input
Input
*1.
Pn483 is used for a Linear Servomotor.
*2.
Pn484 is used for a Linear Servomotor.
Note: You must allocate the /P-CL and /N-CL signals to use them. You can use the following parameters to allocate
the signal to a terminal.
Refer to the following section for details.
6-28
Forward Force Limit
Setting Range
0 to 800
Reverse Force Limit
Setting Range
0 to 800
Without Internal Torque Limits
(Output to the maximum force is possible.)
Maximum force
Speed
Signal Connector Pin No.
/P-CL Must be allocated.
/N-CL Must be allocated.
• Pn50B = n.X (/P-CL (Forward External Torque Limit Input) Signal Allocation)
• Pn50B = n.X (/N-CL (Reverse External Torque Limit Input) Signal Allocation)
6.1.1 Input Signal Allocations on page 6-4
Setting Unit Default Setting
*
30
1%
Setting Unit Default Setting
*
30
1%
With Internal Force Limits
Force limit
Pn483
t
Pn484
Signal Status
Applies the forward external torque limit.
The torque is limited to the smaller of the set-
ON (closed)
tings of Pn402
Cancels the forward external torque limit.
OFF (open)
The torque is limited to the setting of Pn402
Applies the reverse external torque limit.
The torque is limited to the smaller of the set-
ON (closed)
tings of Pn403
Cancels the reverse external torque limit.
OFF (open)
The torque is limited to the setting of Pn403
Speed Position
When Enabled Classification
Immediately
Speed Position
When Enabled Classification
Immediately
Speed
t
Meaning
*1
and Pn404.
*2
and Pn404.
Force
Setup
Force
Setup
*1
.
*2
.