External Torque Limit - YASKAWA JUSP-MD D01A Series User Manual

5 Operation

5.8.2 External Torque Limit

5.8.2

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.
Type
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 to another terminal. For
details, refer to 3.4.1 Input Signal Allocations.
(2) Related Parameters
Set the following parameters for external torque limit.
Pn402
Pn403
Pn404
Pn405
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.
5-56
Signal Connector
Name Pin Number
ON
(closed)
CN1-45
[Factory setting]
OFF
(open)
ON
(closed)
CN1-46
[Factory setting]
OFF
(open)
Forward Torque Limit
Setting Range Setting Unit
0 to 800
Reverse Torque Limit
Setting Range Setting Unit
0 to 800
Forward External Torque Limit
Setting Range Setting Unit
0 to 800
Reverse External Torque Limit
Setting Range Setting Unit
0 to 800
Setting Meaning
Forward external torque limit ON
Forward external torque limit
OFF
Reverse external torque limit ON
Reverse external torque limit
OFF
Factory Setting
1% 800
Factory Setting
1% 800
Factory Setting
1% 100
Factory Setting
1% 100
Limit value
The smaller value of these set-
tings: Pn402 or Pn404
Pn402
The smaller value of these set-
tings: Pn403 or Pn405
Pn403
Speed Position Torque
When Enabled
Immediately
Torque
Speed Position
When Enabled
Immediately
Speed Position Torque
When Enabled
Immediately
Torque
Speed Position
When Enabled
Immediately
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup