External Torque Limit - YASKAWA Sigma-V Series User Manual

4.5.2 External Torque Limit

Use this function to limit torque by inputting a signal from the host controller at specific times during machine
operation. For example, some pressure must continually be applied (but not enough to damage the workpiece)
when the robot is holding a workpiece or when a device is stopping on contact.
(1) Input Signals
Use the following input signals to limit a torque by external torque limit.
Signal
Type
Name
Input /P-CL
Input /N-CL
Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For details, refer to
3.4.1 Input Signal Allocations.
(2) Related Parameters
Set the following parameters for external torque limit.
Forward Torque Limit
Pn402
Setting Range
Reverse Torque Limit
Pn403
Setting Range
Forward External Torque Limit
Pn404
Setting Range
Reverse External Torque Limit
Pn405
Setting Range
The setting unit is a percentage of the rated torque.
Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or
deceleration of the servomotor.
Connector
Setting
Pin Number
ON
(closed)
Must be allocated
OFF
(open)
ON
(closed)
Must be allocated
OFF
(open)
Setting Unit
0 to 800 1%
Setting Unit
0 to 800 1%
Setting Unit
0 to 800 1%
Setting Unit
0 to 800 1%
Meaning
Forward external torque limit ON
Forward external torque limit
OFF
Reverse external torque limit ON
Reverse external torque limit
OFF
Speed
Factory Setting
800
Speed
Factory Setting
800
Speed
Factory Setting
100
Speed
Factory Setting
100
4.5 Limiting Torque
Limit value
The smaller value of these set-
tings: Pn402 or Pn404
Pn402
The smaller value of these set-
tings: Pn403 or Pn405
Pn403
Position Torque
Classification
When Enabled
Setup
Immediately
Position Torque
Classification
When Enabled
Setup
Immediately
Position Torque
Classification
When Enabled
Setup
Immediately
Torque
Position
Classification
When Enabled
Setup
Immediately
4
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