Yaskawa SGDB - Manual (Page 71)

3.1 Setting Parameters According to Machine Characteristics
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3.1.3 Restricting Torque
The SERVOPACK can provide the following torque control:
• Torque restriction Level 1: To restrict the maximum output torque to protect
the machine or workpiece
Level 2: To restrict torque after the motor moves the
machine to a specified position
• Torque control Level 3: To always control output torque, not speed
Level 4: To alternately use speed control and torque
control
This section describes how to use levels 1 and 2 of the torque restriction function.
J How to Set Level 1: Internal Torque Limit
The maximum torque is restricted to the values set in the following parameters.
Cn-08
TLMTF
Forward Rotation
Torque Limit
Unit:
%
Setting
Range: 0 to
800
Factory
Setting:
800
For Speed/Torque
Control and Position
Control
Cn-09
TLMTR
Reverse Rotation
Torque Limit
Unit:
%
Setting
Range: 0 to
800
Factory
Setting:
800
For Speed/Torque
Control and Position
Control
Sets the maximum torque values for
forward rotation and reverse rotation,
respectively.
Sets these parameters when torque
must be restricted according to ma-
chine conditions.
This torque restriction function always
monitors torque, and outputs the signal
shown on the right when the limit value
is reached.
Specifies a torque limit value in terms of
a percentage of the rated torque.
If a value higher than the maximum
torque is set, the maximum torque val-
ue is used.
Output Signal for Torque Restric-
tion Function
• /CLT
• Monitor mode (Un-06) bit 4
Parameter Setting:
(Cn-2D) = jj3, j3j, 3jj
Example of Use: Machine Protection
Motor speed
Torque limit
Torque
Note that too small a torque limit val-
ue will result in torque shortage at ac-
celeration or deceleration.
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