Checking Output Torque Limiting During Operation - YASKAWA SGMJV User Manual

5 Operation

5.8.5 Checking Output Torque Limiting during Operation

(1) Input Signals
Use the following input signals to limit a torque by external torque limit and analog voltage reference.
Type
Input
Refer to 5.5.1 Basic Settings for Torque Control Mode.
Type
Input /P-CL
Input /N-CL
Note: When using the torque limit by external torque limit and analog voltage reference, 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 termi-
nal, 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 torque limit by external torque limit and analog voltage reference.
Pn404
Pn405
The setting unit is a percentage of the rated torque.
Pn415

5.8.5 Checking Output Torque Limiting during Operation

The following signal can be output to indicate that the servomotor output torque is being limited.
Type
Output
For the allocation method, refer to 3.3.1 Input Signal Allocations.
5-64
Connector
Signal Name
Pin Number
T-REF CN1-9
SG CN1-10
Signal Connector
Name Pin Number
ON
CN1-45
[Factory setting]
OFF
ON
CN1-46
[Factory setting]
OFF
Forward External Torque Limit
Setting Range Setting Unit
0 to 800
Reverse External Torque Limit
Setting Range Setting Unit
0 to 800
T-REF Filter Time Constant
Setting Range Setting Unit
0 to 65535
Connector
Signal Name
Pin Number
/CLT Must be allocated
Torque reference input
Signal ground for torque reference input
Setting Meaning
Forward external torque limit ON
Forward external torque limit
OFF
Reverse external torque limit ON
Reverse external torque limit
OFF
Factory Setting
1% 100
Factory Setting
1% 100
Factory Setting
0.01 ms 0
Setting
ON (close)
OFF (open)
Name
Limit Value
The analog voltage reference
limit or the value set in Pn402 or
Pn404 (whichever is smaller)
Pn402
The analog voltage reference
limit or the value set in Pn403 or
Pn405 (whichever is smaller)
Pn403
Position Torque
Speed
When Enabled
Immediately
Speed Position Torque
When Enabled
Immediately
Position
Speed Torque
When Enabled
Immediately
Meaning
Servomotor output torque is being lim-
ited.
Torque is not being limited.
Classification
Setup
Classification
Setup
Classification
Setup