Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference - Manual (Page 131)

4.6 Limiting Torque
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4.6 Limiting Torque
The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
∗ For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).
Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.
4.6.1 Internal Torque Limit
This function always limits maximum output torque by setting values of following parameters.
The setting unit is a percentage of the rated torque.
Note: If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of the
servomotor.
Torque waveform
Limiting Method
Description
Reference Sec-
tion
Internal torque limit Always limits torque by setting the parameter. 4.6.1
External torque limit Limits torque by input signal from the host controller. 4.6.2
Torque limit with P_TLIM,
N_TLIM commands
*
Limit torque by using the P_TLIM and N_TLIM commands. –
Torque limit with P_CL/
N_CL signals of OPTION
Field and P_TLIM/N_TLIM
commands
*
Combines torque limit methods by using an external input and
P_TLIM and N_TLIM commands.
–
Pn402
Forward Torque Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup
Pn403
Reverse Torque Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup
Speed Position Torque
Speed Position Torque
Speed
Maximum torque
t
Speed
Pn403
Pn402
Limiting torque
t
No Internal Torque Limit
(Maximum torque can be output)
Internal Torque Limit
Rotation