External Torque Limits - YASKAWA SGD7S-1R9D Product Manual

• Linear Servomotors
Forward Force Limit
Pn483
(2483 Setting Range
hex)
Reverse Force Limit
Pn484
(2484 Setting Range
hex)
*
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.
Without Internal Force Limits
(Output to the maximum force is possible.)
Maximum force
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 Signal
Input /P-CL
Input /N-CL
*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.
• Pn50B = n.X (/P-CL (Forward External Torque Limit Input) Signal Allocation)
• Pn50B = n.X (/N-CL (Reverse External Torque Limit Input) Signal Allocation)
Refer to the following section for details.
6.1.1 Input Signal Allocations on page 6-4
Setting Unit
0 to 800 1%*
Setting Unit
0 to 800 1%*
Speed
t
Connector Pin No. Signal Status
ON (closed)
Must be allocated.
OFF (open)
ON (closed)
Must be allocated.
OFF (open)
Default Setting
30
Default Setting
30
With Internal Force Limits
Force limit
Speed
Pn483
Pn484
Applies the forward external torque limit.
The torque is limited to the smaller of the set-
tings of Pn402
Cancels the forward external torque limit.
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-
tings of Pn403
Cancels the reverse external torque limit.
The torque is limited to the setting of Pn403
6.7 Selecting Torque Limits

6.7.2 External Torque Limits

Speed Position Force
When Enabled Classification
Immediately Setup
Speed Position Force
When Enabled Classification
Immediately Setup
t
Meaning
*1
and Pn404.
*2
and Pn404.
6
*1
.
*2
.
6-27