Yaskawa MP940 Reference Manual - Manual (Page 280)

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual
6-80
Pn405
Reverse External Torque Limit P-CL at ON Applies the torque
OBC0013 = 1 limit to the forward
direction
P-CL at OFF
OBC0013 = 0
Does not apply the
torque limit to the
forward direction.
N-CL at ON Applies the torque
OBC0014 = 1 limit to the reverse
direction
N-CL at OFF Does not apply the
OBC0014 = 0 torque limit to the
reverse direction.
Normal run.
Limit
Value:
Pn404
—
Limit
Value:
Pn405
—
—
The following signal is output during torque
limit application.
CLT=IBC001B
(Bit 11 of motion monitor parameter Servo
Drive Status)
Monitor Mode
Un005: No. 6, No. 7(for factory settings)
Un006: According to output signal assign-
ment conditions.
Application Example
Pushing Stop Operation
Robot Work Protection
— —
Pn406
Emergency Stop Torque %
0 ~ 800 Sets the stopping torque at overtravel (for-
ward prohibit input, reverse prohibit input).
Enabled when 1 or 2 is set in Stopping
Method at Overtravel (Pn001.1).
The setting unit is in % of rated torque.
For details on overtravel, see Pn001.1.
800 Speed
Position
Torque Related Constants (Continued)
User
Parameter
Number
Digit
Position
Name
(setting
range)
Content
Default
Setting
Control
Mode
Coast to Stop
DB Stop
Decel Stop
Maximum
Emergency Stop
Torque Setting
Forward Prohibit
Input
P-OT(CN1-42)
Reverse Prohibit
Input
OT(CN1-43)
Pn001.1
Pn406