Selecting Torque Limits; Internal Torque Limits - YASKAWA SGD7S-****20A Series Product Manual

6.7 Selecting Torque Limits

6.7.1 Internal Torque Limits

6.7

Selecting Torque Limits

You can limit the torque that is output by the Servomotor.
There are four different ways to limit the torque. These are described in the following table.

Internal Torque Limits

External Torque Limits
Limiting Torque with TLIM
Data in Commands*
Torque Limiting with P_CL
and N_CL in the Servo
Command Output Signals
(SVCMD_IO)*
*
Refer to the following manual for details.
Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
Note: If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the maxi-
mum torque of the Servomotor.
6.7.1 Internal Torque Limits
If you use internal torque limits, the maximum output torque will always be limited to the speci-
fied forward torque limit (Pn402) and reverse torque limit (Pn403).
• Rotary Servomotors
Pn402
Pn403
*
Set a percentage of the rated motor torque.
Note: If the setting of Pn402 or Pn403 is too low, the torque may be insufficient for acceleration or deceleration of
the Servomotor.
6-28
Limit Method
The torque is always limited with the setting
of a parameter.
The torque is limited with an input signal
from the host computer.
The TLIM data in a command is used to set
the required torque limits.
The P_CL and N_CL signals in the servo
command output signals (SVCMD_IO) are
used to set the required limits.
Forward Torque Limit
Setting Range
0 to 800
Reverse Torque Limit
Setting Range
0 to 800
Without Internal Torque Limit
(Output to the maximum torque i po ible.)
Maximum torque
Outline
Setting Unit Default Setting
1%* 800
Setting Unit Default Setting
1%* 800
peed
Pn402
t
Pn40
Control Method
Speed control,
position control, or
torque control
Speed control or
position control
Speed control or
position control
Speed Position
When Enabled
Immediately
Speed Position
When Enabled
Immediately
With Internal Torque Limit
Torque limit
peed
Reference
6.7.1
6.7.2
–
–
Torque
Classification
Setup
Torque
Classification
Setup
t