Yaskawa Sigma II Series DC Power Input SGMAJ - Manual (Page 242)

8.9 Limiting Torque
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8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
This function allows the torque to be limited at specific times during machine operation, for example, during
press stops and hold operations for robot workpieces.
An input signal is used to enable the torque limits previously set in parameters.
(1) Related Parameters
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
(2) Input Signals
Pn404 Forward External Torque Limit
Setting Range Setting Unit Factory Setting Setting Validation
0 to 800 % 100 Immediately
Pn405 Reverse External Torque Limit
Setting Range Setting Unit Factory Setting Setting Validation
0 to 800 % 100 Immediately
Speed Position Torque
Speed Position Torque
Type Signal
Name
Connector Pin
Number
Setting Meaning Limit Value
Input /P-CL CN1-11
(Factory Setting) ON (low level) Forward external torque limit
ON The value set in Pn402 or
Pn404 (whichever is smaller)
OFF (high level) Forward external torque limit
OFF Pn402
Input /N-CL CN1-12
(Factory Setting) ON (low level) Reverse external torque limit
ON The value set in Pn403 or
Pn405 (whichever is smaller)
OFF (high level) Reverse external torque limit
OFF Pn403
When using this function, 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 terminal, the signals are handled with OR logic, which affects the ON/OFF
state of the other signals. Refer to 7.3.2 Input Circuit Signal Allocation
.