External Torque Limit - YASKAWA SGMJV User Manual

4 Operation

4.6.2 External Torque Limit

4.6.2

External Torque Limit

Use this function to limit torque by inputting a signal from the host controller at specific times during machine
operation. For example, some pressure must continually be applied (but not enough to damage the workpiece)
when the robot is holding a workpiece or when a device is stopping on contact.
(1) Input Signals
Use the following input signals to limit a torque by external torque limit.
Type
Input /P-CL
Input /N-CL
Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For details, refer to
3.3.1 Input Signal Allocations.
(2) Related Parameters
Set the following parameters for external torque limit.
Pn402
Pn403
Pn404
Pn405
∗
Percentage (%) of rated motor torque.
Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or
deceleration of the servomotor.
4-34
Signal Connector
Name Pin Number
ON
(closed)
Must be allocated
OFF
(open)
ON
(closed)
Must be allocated
OFF
(open)
Forward Torque Limit
Setting Range Setting Unit
0 to 800
Reverse Torque Limit
Setting Range Setting Unit
0 to 800
Forward External Torque Limit
Setting Range Setting Unit
0 to 800
Reverse External Torque Limit
Setting Range Setting Unit
0 to 800
Setting Meaning
Forward external torque limit ON
Forward external torque limit
OFF
Reverse external torque limit ON
Reverse external torque limit
OFF
Factory Setting
* 800
1%
Factory Setting
800
*
1%
Factory Setting
100
*
1%
Factory Setting
* 100
1%
Limit value
The smaller value of these set-
tings: Pn402 or Pn404
Pn402
The smaller value of these set-
tings: Pn403 or Pn405
Pn403
Position
Speed
Torque
When Enabled
Immediately
Speed Position
Torque
When Enabled
Immediately
Speed Position
Torque
When Enabled
Immediately
Position
Speed
Torque
When Enabled
Immediately
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup