Torque Limiting Function - YASKAWA S-7 Series Command Manual

6.2

Torque Limiting Function

The torque limiting function limits the torque during position/speed control to protect the con-
nected machine, etc. There are three ways to limit the output torque.
• Internal torque limit according to parameter settings
• External torque limit using the P_CL and N_CL bits of the SVCMD_IO field
• Torque limit by position/speed control command
If all of the above three methods are used, the smallest torque limit will be applied.
Internal Torque Limit
This method always limits the maximum output torque to the set values of the following param-
eters.
Parameter
Pn402
Pn403
Pn483
Pn484
External Torque Limit Using P_CL/N_CL Bits of SVCMD_IO
Field
This method uses the P_CL and N_CL bits of the SVCMD_IO field to limit the output torque to
the values set for the following parameters. Settings can be made using common parameters.
Common
Parameters
8C
8D
Parameter
Pn404
Pn405
Name
Forward Torque Limit
(For rotational servomotors)
Reverse Torque Limit
(For rotational servomotors)
Forward Force Limit
(For linear servomotors)
Reverse Force Limit
(For linear servomotors)
Name
Forward Torque Limit
Reverse Torque Limit
Name
Forward External Torque Limit
Reverse External Torque Limit

6.2 Torque Limiting Function

Data Size Setting
(Byte) Range
2 0 to 800
2 0 to 800
2 0 to 800
2 0 to 800
Data Size Setting
(Byte) Range
4 0 to 800
4 0 to 800
Data Size Setting
(Byte) Range
2 0 to 800
2 0 to 800
Factory
Unit
Setting
% 800
% 800
% 30
% 30
Factory
Unit
Setting
% 100
% 100
Factory
Unit
Setting
% 100
% 100
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