Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III 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-III Standard Servo Profile Commands (No.: SIEP
S800000 63).
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 the com-
mand data (TLIM)
*
Limits torque by using the command data (TLIM) for torque lim-
iting function settable commands.
–
Torque limit with P_CL and
N_CL signals of the servo
command output signals
(SVCMD_IO)
*
Limits torque by using P_CL and N_CL signals of the servo com-
mand output signals (SVCMD_IO).
–
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