Estun ETS-101010APC-CAN - External Torque Limit

ETS Series AC Servo User's Manual
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4.7.2 External Torque Limit
This function allows the torque to be limited at specific times during machine operation, for example, during press stops
and hold operations for robot workpieces.
An input signal is used to enable the torque limits previously set in parameters.
(1)Related Parameters
Pn403
Forward External Torque Limit
Setting Range
Setting Unit
Factory Setting
Setting Validation
0～300
%
100
Immediately
Pn404
Reverse External Torque Limit
Setting Range
Setting Unit
Factory Setting
Setting Validation
0～300
%
100
Immediately
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
(2)Input Signals
Type
Signal
Name
Connector Pin
Number
Setting
Meaning
Limit Value
Input
/P-CL
Pn509.0=6
ON(low level)
Forward external torque limit
Pn403
OFF(high level)
Forward internal torque limit
Pn401
Input
/N-CL
Pn509.0=7
ON(low level)
Reverse external torque limit
Pn404
OFF(high level)
Reverse internal torque limit
Pn402
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.
(3)Changes in Output Torque during External Torque Limiting
Example: External torque limit (Pn401，Pn402) set to 300%
/P-CL(Forward External Torque Limit Input)
High level
Low level
/N-CL
(Reverse
External
Torque
Limit Input)
High
level
Speed
Torque
Pn401
Pn402
0
Speed
Torque
Pn402
0
Pn403
Low
level
Speed
Torque
Pn401
0
Pn404
Speed
Torque
0
Pn404
Pn403
Note: Select the servomotor rotation direction by setting Pn001=b.□□□0 (standard setting, CCW=Forward direction).
Position
Speed
Position
Speed