External Force Limit (Output Force Limiting By Input Signals) - YASKAWA SGLFW User Manual

9.11.2 External Force Limit (Output Force Limiting by Input Signals)

This function allows the force to be limited at specific times during machine operation, for example, during press
stops and hold operations for robot workpieces.
An input signal is used to enable the force limits previously set in parameters.
(1) Related Parameters
Pn404 Forward External Force Limit
Setting Range
Pn405 Reverse External Force Limit
Setting Range
Note: The setting unit is a percentage of rated force (i.e., the rated force is 100%).
(2) Input Signals
Type Signal Connector Pin
Name
Input /P-CL CN1-45
(Factory Setting)
Input /N-CL CN1-46
(Factory Setting)
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.
When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/OFF
state of the other signals. Refer to 8.3.2 Input Circuit Signal Allocation
Setting Unit
0 to 800
Setting Unit
0 to 800
Setting
Number
ON (low level)
OFF (high level)
ON (low level)
OFF (high level)
Factory Setting
% 100
Factory Setting
% 100
Meaning
Forward external force limit
ON
Forward external force limit
OFF
Reverse external force limit
ON
Reverse external force limit
OFF
.
9.11 Limiting Force
Position
Speed Force
Setting Validation
Immediately
Position Force
Speed
Setting Validation
Immediately
Limit Value
The value set in Pn483 or
Pn404 (whichever is smaller)
Pn483
The value set in Pn484 or
Pn405 (whichever is smaller)
Pn484
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