YASKAWA Sigma II Series User Manual page 79

Sigma II User's Manual
This is the external torque (current) limit input for forward and reverse rotation.
Check input signal allocation status when using this function. (See 5.3.3
Input Circuit Signal Allocation). Default settings are given in the table on
the following page.
Parameter
CN1-45 at low level when ON
/P–CL
CN1-45 at high level when OFF
CN1-46 at low level when ON
/N–CL
CN1-46 at high level when OFF
The following output signals and monitor methods are used when torque is
being limited.
Signal
/CLT
Monitor Mode (Un006)
• Un005: Numbers 6
and 7 (With Default
Settings)
• Un006: Depending
on output signal
allocation condi-
tions.
Application Examples:
Parameter
Pn404 Forward External Torque Limit
Pn405 Reverse External Torque Limit
Signal Status
Generated when Pn50F.0 is allocated to an output terminal from SO1
Refer to 7.1.7 Operation in Monitor Mode.
• Forced stop.
• Robot holding a workpiece.
Signal
Chapter 5: Parameter Settings and Functions
Comments
Use forward torque limit.
Do not use forward torque limit.
Normal operation.
Use reverse torque limit.
Do not use reverse torque limit.
Normal operation.
Description
to SO3.
—
—
Setting
(%)
Range: 0 to 800
Default Setting: 100
Range: 0 to 800
Default Setting: 100
5-12
Description
Limit: Pn404
—
Limit: Pn405
—
Control Mode
Speed/Torque Control,
Position Control
Speed/Torque Control,
Position Control