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5 Operation
5.8.2 External Force Limit
5-64
5.8.2 External Force Limit
Use this function to limit force by inputting a signal from the host controller at specific times during machine
operation. For example, some pressure must continually be applied (but not enough to damage the workpiece)
when the robot is holding a workpiece or when a device is stopping on contact.
(1) Input Signals
Use the following input signals to limit a force by external force limit.
Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal to another terminal. For
details, refer to 3.3.1 Input Signal Allocations.
(2) Related Parameters
Set the following parameters for external force limit.
The setting unit is a percentage of the rated force.
Note: If the settings of Pn483, Pn484, Pn404, and Pn405 are too low, the force may be insufficient for acceleration or
deceleration of the servomotor.
Type
Signal
Name
Connector
Pin Number
Setting Meaning Limit value
Input /P-CL
CN1-45
[Factory setting]
ON
(closed)
Forward external force limit ON
The smaller value of these set-
tings: Pn483 or Pn404
OFF
(open
)
Forward external forc
e limit OFF Pn483
Input /N-CL
CN1-46
[Factory setting]
ON
(closed)
Reverse external force limit ON
The smaller value of these set-
tings: Pn484 or Pn405
OFF
(open
)
Reverse external force limit OFF Pn484
Pn483
Forward Force Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 30 Immediately
Setup
Pn484
Reverse Force Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 30 Immediately
Setup
Pn404
Forward External Force Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately
Setup
Pn405
Reverse External Force Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately
Setup
Position
Position
Position
Position
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