YASKAWA SGMPS - Checking Output Torque Limiting During Operation

5 Operation
5.8.5 Checking Output Torque Limiting during Operation
5-64
(1) Input Signals
Use the following input signals to limit a torque by external torque limit and analog voltage reference.
Refer to 5.5.1 Basic Settings for Torque Control Mode.
Note: When using the torque limit by external torque limit and analog voltage reference, make sure that there are no other
signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same termi-
nal, the signals are handled with OR logic, which affects the ON/OFF state of the other signals. Refer to 3.3.1 Input
Signal Allocations.
(2) Related Parameters
Set the following parameters for torque limit by external torque limit and analog voltage reference.
The setting unit is a percentage of the rated torque.
5.8.5 Checking Output Torque Limiting during Operation
The following signal can be output to indicate that the servomotor output torque is being limited.
For the allocation method, refer to 3.3.1 Input Signal Allocations.
Type Signal Name
Connector
Pin Number
Name
Input
T-REF CN1-9 Torque reference input
SG CN1-10 Signal ground for torque reference input
Type
Signal
Name
Connector
Pin Number
Setting Meaning Limit Value
Input /P-CL
CN1-45
[Factory setting]
ON Forward external torque limit ON
The analog voltage reference
limit or the value set in Pn402 or
Pn404 (whichever is smaller)
OFF
Forward external torque limit
OFF
Pn402
Input /N-CL
CN1-46
[Factory setting]
ON Reverse external torque limit ON
The analog voltage reference
limit or the value set in Pn403 or
Pn405 (whichever is smaller)
OFF
Reverse external torque limit
OFF
Pn403
Pn404
Forward External Torque Limit Classification
Setting Range Setting Unit Factory Setting When Enabled
Setup
0 to 800 1% 100 Immediately
Pn405
Reverse External Torque 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
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque
Type Signal Name
Connector
Pin Number
Setting Meaning
Output /CLT Must be allocated
ON (close)
Servomotor output torque is being lim-
ited.
OFF (open) Torque is not being limited.