YASKAWA S-7 Series Command Manual page 152

6.2 Torque Limiting Function
Torque Limit by Position/Speed Control Command
Torque limits can be specified using the following commands.
INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING, ZRET, VELCTRL
This method limits the torque to the value set for TLIM of the position/speed control command.
The torque limits operate based on parameter settings (i.e., Pn81F = n.X and Pn002 =
n.X). (The torque limit is enabled for the default setting.)
Parameter
Pn81F
Pn002
The following table shows the operation when all of the three methods are used. The smallest
torque limit in each group will be applied.
Pn002 =
n.X
1
*
The parameter numbers in parentheses are for linear servomotors.
When sending a command other than the commands that can specify torque limit, the last
torque limit specified by the TLIM field remains valid. During execution of the SV_OFF or TRQC-
TRL command, the torque limit specified by the TLIM field becomes invalid and the maximum
torque will be used as the limit.
6-6
 
Reserved
n. 0
The settings of the TFF and TLIM fields of posi-
 
n. 1
tion control commands are enabled.
(Factory
Operation depends on the setting of Pn002 =
setting)
n.X.

n. 0 Reserved

n. 1 Forward and reverse torque limits based on
(Factory the setting of the TLIM field of the position/
speed control commands are enabled.
setting)

n. 2 Reserved

n. 3 Reserved
Forward Torque Limit
When P_CL is set to 0 When P_CL is set to 1 When N_CL is set to 0 When N_CL is set to 1
Pn402 (Pn482)*
TLIM
Meaning
Pn402 (Pn482)*
Pn403 (Pn483)*
Common parameter
8C (Pn404)
TLIM
TLIM
Data Size Setting
(Byte) Range
0000h to
2
0001h
0000h to
2
0003h
Reverse Torque Limit
Pn403 (Pn483)*
Common parameter
8D (Pn405)
TLIM
Unit
–
–