External Torque Limit - YASKAWA SGMJV User Manual

5.8.2 External Torque Limit

Use this function to limit torque by inputting a signal from the host controller at a specific times during
machine operation, such as forced stop or hold operations for robot workpieces.
(1) Input Signals
Signal
Type
Name
Input /P-CL
Input /N-CL
Note: When using external torque limit, make sure that there are no other signals allocated to the same terminals as /P-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 3.3.1 Input Signal Allocations
(2) Related Parameters
Set the following parameters for external torque limit.
Forward External Torque Limit
Pn404
Setting Range
Reverse External Torque Limit
Pn405
Setting Range
The setting unit is a percentage of the rated torque.
Connector
Setting
Pin Number
ON
CN1-45
[Factory setting]
OFF
ON
CN1-46
[Factory setting]
OFF
Setting Unit
0 to 800 1%
Setting Unit
0 to 800 1%
Meaning
Forward external torque limit ON
Forward external torque limit
OFF
Reverse external torque limit ON
Reverse external torque limit
OFF
Speed
Factory Setting
100
Speed
Factory Setting
100
5.8 Limiting Torque
Limit value
The value set in Pn402 or Pn404
(whichever is smaller)
Pn402
The value set in Pn403 or Pn405
(whichever is smaller)
Pn403
.
Position Torque
Classification
When Enabled
Setup
Immediately
Position Torque
Classification
When Enabled
Setup
Immediately
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