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5 Operation
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
5-68
(1) Input Signals
Use the following input signals to limit a force by external force limit and analog voltage reference.
Refer to 5.5.1 Basic Settings for Force Control.
(2) Related Parameters
Set the following parameters for force limit by external force limit and analog voltage reference.
The setting unit is a percentage of the rated force.
Type Signal Name
Connector
Pin Number
Name
Input
T-REF CN1-9 Force reference input
SG CN1-10 Signal ground for force reference input
Type
Signal
Name
Connector
Pin Number
Setting Meaning Limit Value
Input /P-CL
CN1-45
[Factory setting]
ON Forward external force limit ON
The smallest value of these set-
tings: the analog voltage refer-
ence limit, Pn483, or Pn404
OFF Forward external forc
e limit OFF Pn483
Input /N-CL
CN1-46
[Factory setting]
ON Reverse external force limit ON
The smallest value of these set-
tings: the analog voltage refer-
ence limit, Pn484, or Pn405
OFF Reverse external force limit OFF Pn484
Pn400
Force Reference Input Gain Classification
Setting Range Setting Unit Factory Setting When Enabled
Setup
10 to 100 0.1 V
30 (Rated force at 3.0
V)
Immediately
Pn483
Forward Force Limit Classification
Setting Range Setting Unit Factory Setting When Enabled
Setup
0 to 800 1% 30
Immediately
Pn484
Reverse Force Limit Classification
Setting Range Setting Unit Factory Setting When Enabled
Setup
0 to 800 1% 30
Immediately
Pn404
Forward External Force Limit Classification
Setting Range Setting Unit Factory Setting When Enabled
Setup
0 to 800 1% 100
Immediately
Pn405
Reverse External Force Limit Classification
Setting Range Setting Unit Factory Setting When Enabled
Setup
0 to 800 1% 100 Immediately
Pn415
T-REF Filter Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 0 Immediately Setup
Position
Position
Position
Position
Position
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