Torque Limit Selection - YASKAWA E-S Series Product Manual

Electronic Gear Ratio Setting Examples
Setting examples are provided in this section.
Step Description
Machine
1
Specifications
2 Encoder Resolution
3 Reference Unit
Travel Distance per
4 Load Shaft Revolution
(Reference Units)
5 Electronic Gear Ratio
6 Parameters
5.4.3

Torque Limit Selection

You can limit the torque that is output by the Servomotor.
There are three ways to limit torque.
Limit Method
Internal Torque
Limits
External Torque
Limits
Program Table
Torque Limits
Note: 1. If more than one torque limit is enabled, the smallest torque limit is used.
2. If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the
maximum torque of the Servomotor.
Internal Torque Limits
If you use internal torque limits, the maximum output torque will always be limited to the speci-
fied forward torque limit (Pn402) and reverse torque limit (Pn403).
Set the internal torque limits to higher values than the positioning torque limits (TLIMT) or press-
ing torque limits (PTLIMT) in the program table and to higher values than the external torque lim-
its.
Note
Ball Screw
Reference unit: 0.02 mm
Load shaft
Encoder:
Ball screw lead:
10 bits
6 mm
• Ball screw lead: 6 mm
• Gear ratio: 1/1
1,024 (10 bits)
0.002 mm (20 μm)
6 mm/0.02 mm = 300
B 1,024 1
×
=
A 300 1
Pn20E: 1,024
Pn210: 300
Description
The torque is always limited with the setting of a
parameter.
The torque is limited with an input signal from
the host computer.
You can use the torque limits (TLIMT and
PTLIMT) in the program table to limit the torque
according to the program step.
5.4 Settings That Must Be Adjusted to the System

5.4.3 Torque Limit Selection

Machine Configuration
Rotary Table
Reference unit: 0.01°
Gear ratio:
1/100
Gear ratio:
Load shaft
1/50
Encoder:
10 bits
• Pulley dia.: 100 mm
• Rotation angle per revo-
(Pulley circumference:
lution: 360°
314 mm)
• Gear ratio: 1/100
• Gear ratio: 1/50
1,024 (10 bits) 1,024 (10 bits)
0.05 mm (50 μm)
0.01°
314 mm/0.05 mm =
360°/0.01° = 36,000
6,280
B 1,024 100 B
×
=
A
A 36,000 1
Pn20E: 10,240 Pn20E: 51,200
Pn210: 3,600 Pn210: 6,280
Reference
Internal Torque Limits on page 5-25
External Torque Limits on page 5-26
7.3 Program Table Operation on page 7-
13
Belt and Pulley
Reference unit: 0.05 mm
Load shaft
Pulley dia.: 100 mm
Encoder: 10 bits
1,024 50
×
=
6,280 1
5-25
5