Yaskawa Sigma II Series Servo System - Manual (Page 95)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
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5.1.3 Limiting Torque
The SGDH servo amplifier limits torque as follows:
• Level 1: Limits maximum output torque to protect the equipment or workpiece.
• Level 2: Limits torque after the servomotor moves the equipment to a specified
position (internal torque limit).
• Level 3: Always limits output torque rather than speed.
• Level 4: Switches between speed and torque limit.
Application of levels 1 and 2 in the torque limit function are described below.
Setting Level 1: Internal Torque Limits
Maximum torque is limited to the values set in the following parameters.
Sets the maximum torque limits for forward and reverse rotation.
Used when torque must be limited due to equipment conditions.
The torque limit function always monitors torque and outputs the signals
below when the limit is reached.
The following signals are output by the torque limit function.
The torque limits are specified as a percentage of the rated torque.
Note: If torque limit is set higher than the maximum torque of the servomotor, the maximum torque of the
servomotor is the limit.
Parameter Signal
Setting
(%)
Control Mode
Pn402 Forward Torque Limit
Range: 0 to 800
Default Setting: 800
Speed/Torque Control,
Position Control
Pn403 Reverse Torque Limit
Range: 0 to 800
Default Setting: 800
Speed/Torque Control,
Position Control
Signal Description
/CLT Generated when Pn50F.0 allocates an output terminal from SO1 to SO3.
Monitor Mode (Un006) Output signal monitor