Selecting Torque Limits; Internal Torque Limits - YASKAWA SGD7S-1R9D Product Manual

6.7 Selecting Torque Limits

6.7.1 Internal Torque Limits

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.

Internal Torque Limits

External Torque Limits
Limiting Torque with
controlword (6040 hex)
Limiting Torque with
positive torque limit value
(60E0 hex) and negative
torque limit value
(60E1 hex)
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
Pn402
(2402
hex)
Pn403
(2403
hex)
*
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.
6-26
Limit Method
The torque is always limited with the setting
of a parameter.
The torque is limited with an input signal
from the host computer.
A command from the Controller enables the
torque limit that is set in a parameter.
Torque is controlled with torque limits from
the Controller.
Forward Torque Limit
Setting Range
0 to 800
Reverse Torque Limit
Setting Range
0 to 800
Without Internal Torque Limits
(Output to the maximum torque is possible.)
Maximum torque
Speed
Outline
Setting Unit Default Setting
1%* 800
Setting Unit Default Setting
1%* 800
Pn402
t
Pn403
Control Method
Speed control,
position control, or
torque control
Speed control or
position control
Speed Position
When Enabled
Immediately
Speed Position
When Enabled
Immediately
With Internal Torque Limits
Torque limit
Speed
Reference
6.7.1
6.7.2
14.6
13.7
Torque
Classification
Setup
Torque
Classification
Setup
t