Yaskawa DR2 Sigma Servo - Manual (Page 75)

APPLICATIONS OF Σ-SERIES PRODUCTS
3.1.3 Restricting Torque cont.
62
P CL
ON: 1CN-45 is at
low level.
Torque restriction applies during forward rotation. Limit value:
Cn-18
P-CL
OFF: 1CN-45 is at
high level.
Torque restriction does not apply during forward
rotation. Normal operation status.
N CL
ON: 1CN-46 is at
low level.
Torque restriction applies during reverse rotation. Limit value:
Cn-19
N-CL
OFF: 1CN-46 is at
high level.
Torque restriction does not apply during reverse
rotation. Normal operation status.
The signal shown on the right is output while torque is being restricted.
Note This function is changed to another function depending on the setting of bit 2 of
memory switch Cn-02 (see below).
To use input signals P-CL and N-CL as torque limit input signals, set the following
memory switch to 0.
Cn-02 Bit 2
Contact Input Speed Control
Selection
Factory
Setting: 0
For Speed/Torque Control
and Position Control
Prohibits the contact input speed control function.
If the contact input speed control function is used,
the contents of the input signals shown below will
change.
After this memory switch is reset, the meanings of the following signals will
also change:
Monitor mode (Un-05) bit 7 and bit 8
Setting Meaning Input Signal
0
Does not use
the contact
input speed
control
function.
P-CON (1CN-41)
Used to switch between P control and
PI control.
(For speed/torque control, bits A and
B of Cn-01 take precedence over this
signal.)
P-CL (1CN-45) Used for forward external torque limit
input
N-CL (1CN-46) Used for reverse external torque limit
input
1
Uses the contact
input speed
control function.
0: OFF, 1: ON
P-CON P-CL N-CL Speed Setting
Direction of
rotation
0: Forward
1: Reverse
Normal speed/torque or
position control
Cn-1F (SPEED1)
Cn-20 (SPEED2)
Cn-21 (SPEED3)
0 0
0 1
1 1
1 0
3
Servopack
Run the
motor at
internally
set speed
Contact
input
Servomotor