Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface - Manual (Page 129)

4.4 Limiting Torque
4-33
4
Ope
rat
ion
(3) Changes in Output Torque during External Torque Limiting
The following diagrams show the change in output torque when the internal torque limit is set to 800%.
In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction).
4.4.3 Checking Output Torque Limiting during Operation
The following signal can be output to indicate that the servomotor output torque is being limited.
Note: Use parameter Pn50F.0 to allocate the /CLT signal for use. For details, refer to 3.4.2 Output Signal Allocations.
/P-CL
OFF ON
/N-CL
OFF
ON
Pn402
Pn403
0
Torque
Speed
Pn403
0
Pn404
Pn402
Torque
Speed
0
Pn403
Pn405
Pn402
Torque
Speed
0
Pn403
Pn405
Pn404
Pn402
Torque
Speed
Type Signal Name
Connector
Pin Number
Setting Meaning
Output /CLT Must be allocated
ON (closed)
Servomotor output torque is being lim-
ited.
OFF (open)
Servomotor output torque is not being
limited.