YASKAWA E-V Series User Manual page 161

5 Operation
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
(1) Input Signals
Use the following input signals to limit a force by external force limit and analog voltage reference.
Type
Input
The force limit input gain is set with Pn400. Refer to 5.5.1 Basic Settings for Force Control Mode.
Maximum allowable input voltage is ±12 VDC.
Type
Input /P-CL
Input /N-CL
Note 1. When using the force limit by external force limit and analog voltage reference, make sure that there are no other
2. This setting is enabled when Pn002.0 is set to 3.
(2) Related Parameters
Set the following parameters for force limit by external force limit and analog voltage reference.
Pn002
Pn404
Pn405
Note: Setting unit is percentage to the servomotor rated force. (Rated force limits 100%).
Pn415
5-58
Connector
Signal Name
Pin Number
T-REF CN1-9
SG CN1-10
Signal Connector
Name Pin Number
CN1-45
[Factory setting]
CN1-46
[Factory setting]
signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same ter-
minal, 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.
Parameter
Speed control option: When /P-CL or /N-CL is
n. 3 enabled, the T-REF terminal is used as an analog volt-
age reference input.
Forward External Force Limit
Setting Range
0 to 800
Reverse External Force Limit
Setting Range
0 to 800
T-REF Filter Time Constant
Setting Range
0 to 65535
Force reference input
Signal ground for force reference input
Setting Meaning
ON Forward external force limit ON
OFF Forward external force limit OFF Pn483
ON Reverse external force limit ON
OFF Reverse external force limit OFF Pn484
Meaning
Setting Unit Factory Setting
1% 100
Setting Unit Factory Setting
1% 100
Setting Unit Factory Setting
0.01 ms 0
Name
Limit Value
The analog voltage reference
limit or the value set in Pn483 or
Pn404 (whichever is smaller)
The analog voltage reference
limit or the value set in Pn484 or
Pn405 (whichever is smaller)
When Enabled Classification
After restart
Position Force
Speed
When Enabled
Immediately
Force
Speed Position
When Enabled
Immediately
Position Force
Speed
When Enabled
Immediately
Setup
Classification
Setup
Classification
Setup
Classification
Setup