YASKAWA SGD7S

6.11 Selecting Torque Limits
6.11.4 Limiting Torque with an External Torque Limit and an Analog Voltage Reference
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6.11.4 Limiting Torque with an External Torque Limit and an
Analog Voltage Reference
The torque is limited by combining torque limits for an external input signal and torque limits for
an analog voltage reference.
When the /P-CL (Forward External Torque Limit) or /N-CL (Reverse External Torque Limit) signal
is ON, the torque will be limited by the smaller of the torque limit for the analog voltage refer-
ence or the setting of Pn404 or Pn405.
The following block diagram shows limiting the torque with an external torque limit and an ana-
log voltage reference.
• Rotary Servomotors
Note: You cannot use the torque limit of the analog voltage reference during torque control because the analog volt-
age is input with the T-REF (Torque Reference Input) signal.
• Linear Servomotors
Note: You cannot use the force limit of the analog voltage reference during force control because the analog voltage
is input with the T-REF (Torque Reference Input) signal.
Pn300
+
+
+
-
T-REF
V-REF
Pn101
Pn100
Pn400
Pn415
SERVOPACK
/P-CL signal
/N-CL signal
Torque limit
Speed
reference input
Torque Reference Input Gain
Speed Reference
Input Gain
Speed Loop Integral
Time Constant
Speed feedback
Torque
reference
T-REF Filter Time Constant
Speed
loop gain
Pn405
Reverse External Torque Limit
(/N-CL signal: ON) (Refer to 6.11.1.)
Pn402
Forward Torque Limit
(Refer to 6.11.1.)
Pn403
Reverse Torque Limit
(Refer to 6.11.1.)
(Refer to 6.7.1.)
(Refer to 6.7.3.)
(Refer to 6.5.1.)
Pn404
Forward External
Torque Limit
(/P-CL signal: ON
(Refer to 6.11.1.)
Pn300
+
+
+
-
T-REF
V-REF
Pn101
Pn100
Pn400
Pn415
SERVOPACK
/P-CL signal
/N-CL signal
Force limit
Speed
reference input
Speed Reference
Input Gain
Speed
loop gain
Force reference input gain T-REF Filter Time Constant
Speed Loop Integral
Time Constant
Speed feedback
Force reference
Pn483
Forward Force Limit
(Refer to 6.11.1.)
Pn404
Forward External
Torque Limit
(/P-CL signal: ON
(Refer to 6.11.1.)
Pn484
Reverse Force Limit
(Refer to 6.11.1.)
Pn405
Reverse External Torque Limit
(/N-CL signal: ON) (Refer to 6.11.1.)
(Refer to 6.5.1.)
(Refer to 6.7.1.)
(Refer to 6.7.3.)