Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors - Manual (Page 124)

4 Operation
4.4.2 External Force Limit
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4.4.2 External Force Limit
Use this function to limit force by inputting a signal from the host controller at a specific times during machine
operation, such as forced stop or hold operations for robot workpieces.
(1) Input Signals
Note 1. When using external force limit, 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.
2. For the allocation method, refer to 3.3.1 Input Signal Allocations .
(2) Related Parameters
Set the following parameters for external force limit.
The setting unit is a percentage of the motor rated force.
Type
Signal
Name
Connector
Pin Number
Setting Meaning Limit value
Input /P-CL Must be allocated
ON Forward external force limit ON
The value set in Pn483 or Pn404
(whichever is smaller)
OFF Forward external force limit OFF Pn483
Input /N-CL Must be allocated
ON Reverse external force ON
The value set in Pn484 or Pn405
(whichever is smaller)
OFF Reverse external force limit OFF Pn484
Pn404
Forward External Force Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately Setup
Pn405
Reverse External Force Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately Setup
Speed Position Force
Speed Position Force