Torque Limiting Using An Analog Voltage Reference - YASKAWA SGMJV User Manual

5 Operation

5.8.3 Torque Limiting Using an Analog Voltage Reference

(3) Changes in Output Torque during External Torque Limiting
Changes in output torque when external torque limit is set to 800% are shown with the waveform of Un mon-
itor or SigmaWin+.
In this example, the servomotor rotation direction is Pn000.0 = 0 (CCW = forward).
/N-CL
(Reverse external
torque limit input)
Note: The waveform reverses in case of analog monitor (CN5) output.

5.8.3 Torque Limiting Using an Analog Voltage Reference

Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to
the T-REF terminals (CN1-9 and 10).
Pn002
This function can be used only during speed or position control, not during torque control.
The following chart shows when the torque limiting using an analog voltage reference in the speed control.
Torque limit
value
Speed
reference
There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute val-
ues of both + and - voltages are input, and a torque limit value corresponding to that absolute value is applied
in the forward and reverse direction.
5-62
Pn402
OFF
0
Pn403
Pn402
ON
0
Pn405
Pn403
Parameter
Speed control option: Uses the T-REF terminal to be
n. 1
used as an external torque limit input.
SERVOPACK
Pn400
T-REF
Torque reference
input gain
(See 5.5.1.)
Pn300
+
V-REF
Speed
reference
-
input gain
(See 5.3.1.)
/P-CL (Forward external torque limit input)
OFF
Pn402
Speed
Pn404
Torque
Pn403
Pn402
Speed
Pn404
Pn405
Torque
Pn403
Meaning
Pn415
T-REF filter
(See 6.9.2.)
Pn100
+
Speed loop
gain
Pn101
Integral
time
constant
Speed feedback
ON
Speed
0
Torque
Speed
0
Torque
When Enabled Classification
After restart
Pn402
Pn403
Reverse torque limit value
(See 5.8.1.)
Setup
Forward
torque
limit value
(See 5.8.1.)
Torque
reference