YASKAWA Sigma-7 SGD7S Series

When Pn281 = 20 (20-edge output (5-pulse output) per linear encoder pitch)
Phase A
Phase B
Linear encoder pitch
Fig. 164: Pulse Output Example - Pn281
Pulse Output Example
7.7 Software Limits
You can set limits in the software for machine movement that do not use the overtravel
signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be exe-
cuted in the same way as it is for overtravel.
Refer to the following section for details on this function.
Ä Chap. 15.7 ‘PROFIdrive Position Mode’ page 555
7.8 Selecting Torque Limits
7.8.1 Overview
You can limit the torque that is output by the Servomotor.
There are four different ways to limit the torque. These are described in the following
table.
Limit Method Outline Control Method Reference
Internal Torque
Limits
The torque is
always limited with
the setting of a
parameter.
Speed control, posi-
tion control, or
torque control
Ä Chap. 7.8.2
‘Internal Torque
Limits’ page 222
External Torque
Limits
The torque is limited
with an input signal
from the host com-
puter.
Ä Chap. 7.8.3
‘External Torque
Limits’ page 223
Limiting Torque with
controlword (6040h)
A command from
the Controller ena-
bles the torque limit
that is set in a
parameter.
Ä Chap. 15.6
‘Device Control’
page 543
Limiting Torque with
positive torque limit
value (60E0h), neg-
ative torque limit
value (60E1h), and
max. torque (6072h)
Torque is controlled
with torque limits
from the Controller.
Ä Chap. 14.7
‘Torque Limits’
page 515
Sigma-7 Series SERVOPACKs
Application Functions
Selecting Torque Limits > Overview
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