Limiting Torque With An External Torque Limit And An Analog Voltage Reference - YASKAWA SGD7S series Product Manual

6.11.4 Limiting Torque with an External Torque Limit and an
Analog Voltage Reference
The torque is limited by combining torque limits for an external input signal and torque limits for
an analog voltage reference.
When the /P-CL (Forward External Torque Limit) or /N-CL (Reverse External Torque Limit) signal
is ON, the torque will be limited by the smaller of the torque limit for the analog voltage refer-
ence or the setting of Pn404 or Pn405.
The following block diagram shows limiting the torque with an external torque limit and an ana-
log voltage reference.
• Rotary Servomotors
/P-CL ignal
/N-CL ignal
Torque limit
peed
reference input
Note: You cannot use the torque limit of the analog voltage reference during torque control because the analog volt-
age is input with the T-REF (Torque Reference Input) signal.
• Linear Servomotors
/P-CL ignal
/N-CL ignal
Force limit
peed
reference input
Note: You cannot use the force limit of the analog voltage reference during force control because the analog voltage
is input with the T-REF (Torque Reference Input) signal.

6.11.4 Limiting Torque with an External Torque Limit and an Analog Voltage Reference

ERVOPACK
Pn400
T-REF
Torque Reference Input Gain
(Refer to 6.7.1.)
Pn 00
+
peed Reference
V-REF
Input Gain
-
(Refer to 6.5.1.)
ERVOPACK
Pn400
T-REF
Force reference input gain
(Refer to 6.7.1.)
Pn 00
+
V-REF
peed Reference
Input Gain
-
(Refer to 6.5.1.)
Pn415
T-REF Filter Time Con tant
(Refer to 6.7.3.)
Pn100
+
peed
loop gain
+
Pn101
peed Loop Integral
Ti m e Con tant
Pn405
Reverse External Torque Limit
peed feedback
(/N-CL signal: ON) (Refer to 6.11.1.)
Pn415
T-REF Filter Time Con tant
(Refer to 6.7.3.)
Pn100
+
peed
loop gain
+
Pn101
peed Loop Integral
Ti m e Con tant
Pn405
Reverse External Torque Limit
peed feedback
(/N-CL signal: ON) (Refer to 6.11.1.)
6.11 Selecting Torque Limits
Pn402
Forward Torque Limit
(Refer to 6.11.1.)
Pn404
Forward External
Torque Limit
(/P-CL signal: ON
(Refer to 6.11.1.)
Torque
reference
Pn403
Reverse Torque Limit
(Refer to 6.11.1.)
Pn483
Forward Force Limit
(Refer to 6.11.1.)
Pn404
Forward External
Torque Limit
(/P-CL signal: ON
(Refer to 6.11.1.)
Force reference
Pn484
Reverse Force Limit
(Refer to 6.11.1.)
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