External Torque Limit - YASKAWA SGDV series User Manual

4 Operation

4.4.2 External Torque Limit

4.4.2

External Torque Limit

Use this function to limit torque by inputting a signal from the host controller at specific times during machine
operation. For example, some pressure must continually be applied (but not enough to damage the workpiece)
when the robot is holding a workpiece or when a device is stopping on contact.
(1) Input Signals
Use the following input signals to limit a torque by external torque limit.
Type
Input /P-CL
Input /N-CL
Note 1. When using external torque limit, make sure that there are no other signals allocated to the same terminals as /P-
2. Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For details, refer
(2) Related Parameters
Set the following parameters for external torque limit.
Pn402
Pn403
Pn404
Pn405
The setting unit is a percentage of the rated torque.
Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or
deceleration of the servomotor.
4-32
Signal Connector
Name Pin Number
Must be allocated
Must be allocated
CL and /N-CL. When multiple signals are allocated to the same terminal, the signals are handled with OR logic,
which affects the ON/OFF state of the other signals. Refer to 3.4.1 Input Signal Allocations.
to 3.4.1 Input Signal Allocations.
Forward Torque Limit
Setting Range
0 to 800
Reverse Torque Limit
Setting Range
0 to 800
Forward External Torque Limit
Setting Range
0 to 800
Reverse External Torque Limit
Setting Range
0 to 800
Setting Meaning
ON
Forward external torque limit ON
(closed)
OFF Forward external torque limit
(open) OFF
ON
Reverse external torque limit ON
(closed)
OFF Reverse external torque limit
(open) OFF
Setting Unit Factory Setting
1% 800
Setting Unit Factory Setting
1% 800
Setting Unit Factory Setting
1% 100
Setting Unit Factory Setting
1% 100
Limit value
The smaller value of these set-
tings: Pn402 or Pn404
Pn402
The smaller value of these set-
tings: Pn403 or Pn405
Pn403
Speed Position Torque
When Enabled
Immediately
Torque
Speed Position
When Enabled
Immediately
Speed Position Torque
When Enabled
Immediately
Torque
Speed Position
When Enabled
Immediately
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup