Yaskawa SGDB - Manual (Page 73)

3.1 Setting Parameters According to Machine Characteristics
61
J How to Set Level 2: External Torque Limit
First, use a contact input signal to make the torque
(current) limit value set in the parameter valid.
Torque limit can be set separately for forward and
reverse rotation.
To use this function, always set bit 2 of memory
switch Cn-02 to 0 (standard setting). The contact
input speed control function cannot be used.
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.
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.
Output Signal for Torque Restriction Function
This torque restriction
function outputs the signal
shown on the right.
• /CLT
• Status indication mode bit data
• Monitor mode Un-05 bit 4
Parameter Setting:
Cn-2D = jj3, j3j, 3jj
Examples of Use:
• Forced stopping
• Holding workpiece by robot
Cn-18
CLMIF
Forward External
Torque Limit
Unit:
%
Setting
Range: 0 to
800
Factory
Setting:
100
For Speed/Torque
Control and Position
Control
Cn-19
CLMIR
Reverse External
Torque Limit
Unit:
%
Setting
Range: 0 to
800
Factory
Setting:
100
For Speed/Torque
Control and Position
Control
Sets a torque limit value when torque is restricted by external contact input.
This function is valid when Cn-2B is set to 0, 1, 2, 7, 8, 9, 10, 11.
When /P-CL (1CN-45) is input Applies torque restriction as specified in Cn-18
When /N-CL (1CN-46) is input Applies torque restriction as specified in Cn-19
For torque restriction by analog voltage reference, refer to Section 3.2.9 Using Torque
Restriction by Analog Voltage Reference.
3
SGDB SERVOPACK
Forward
rotation
Without
torque limit
Speed
Torque
With
torque limit
Reverse
rotation
Speed
Torque
Speed
Torque
Speed
Torque
Without
torque limit
With
torque limit
1CN-45
1CN-46
/P-CL
/N-CL