YASKAWA E-7-Series SGD7S Product Manual page 236

6.11.4 Limiting Torque with an External Torque Limit and an Analog Voltage Reference
/P-CL (Forward External Torque Limit) Signal, /N-CL
(Reverse External Torque Limit) Signal, and T-REF (Torque
Reference Input) Signal
The input signals that are used for torque limits with an external torque limit and an analog volt-
age reference are described below.
 T-REF (Torque Reference Input) Signal
Type Signal
T-REF CN1-9
Input
SG CN1-10
 /P-CL (Forward External Torque Limit) Signal and /N-CL (Reverse
External Torque Limit) Signal
Type Signal Connector Pin No. Signal Status
CN1-45
Input /P-CL
(default setting)
CN1-46
Input /N-CL
(default setting)
 /P-CL (Forward External Force Limit) Signal and /N-CL (Reverse Exter-
nal Force Limit) Signal
Type Signal Connector Pin No. Signal Status
CN1-45
Input /P-CL
(default setting)
CN1-46
Input /N-CL
(default setting)
Setting the Torque Limit with the External Torque Limit and
an Analog Voltage Reference
To limit the torque with an external input signal and an analog voltage reference, you must set
Pn002 to n.3 (Use T-REF or /N_CL as the torque limit when /P_CL or /N_CL is active).
Parameter
Use T-REF as the torque limit when /P_CL or

Pn002 n. 3
/N_CL is active.
Connector Pin No.
Torque reference input
Signal ground for torque reference input
ON (closed)
OFF (open)
ON (closed)
OFF (open)
ON (closed)
OFF (open)
ON (closed)
OFF (open)
Description
6.11 Selecting Torque Limits
Name
Meaning
Applies the forward external torque limit.
The torque is limited to the smallest of the ana-
log reference or the setting of Pn402 or Pn404.
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 smallest of the ana-
log reference or the setting of Pn403 or Pn405.
Cancels the reverse external torque limit.
The torque is limited to the setting of Pn403.
Meaning
Applies the forward external force limit.
The force is limited to the smallest of the analog
reference or the setting of Pn483 or Pn404.
Cancels the forward external force limit.
The force is limited to the setting of Pn483.
Applies the reverse external force limit.
The force is limited to the smallest of the analog
reference or the setting of Pn484 or Pn405.
Cancels the reverse external force limit.
The force is limited to the setting of Pn484.
When Enabled
After restart
6
Classification
Setup
6-67