Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Analog Voltage and Pulse Train Reference - Manual (Page 184)

5.8 Limiting Torque
5-63
5
Ope
rat
ion
5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage
Reference
This function can be used to combine torque limiting by an external input and by analog voltage reference.
When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the torque limit, whichever is smaller.
The following chart shows the external torque limiting using an analog voltage reference.
Note: This function cannot be used during torque control since the torque limit by analog voltage reference is input from
T-REF (CN1-9, 10).
(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.
Parameter Meaning When Enabled Classification
Pn002 n. 3
When /P-CL or /N-CL is enabled, the T-REF terminal
is used as the external torque limit input.
After restart Setup
Pn300
+
+
+
-
T-REF
V-REF
/N-CL
/P-CL
Pn101
Pn100
Pn400
T-REF filter time constant
Pn415
Torque limit
value
Speed
reference
Pn404
(/P-CL: ON)
Pn402
Pn405
Reverse external torque limit
(/N-CL: ON)
Pn403
Speed
loop
gain
Speed feedback
Torque
reference
SERVOPACK
Torque reference input gain
Forward
torque
limit
Forward
external
torque limit
Reverse torque limit
Speed
reference input
gain
Speed loop
integral time
constant
(See 5.5.1.) (See 6.9.2.)
(See 5.3.1.)
(See 5.8.1.)
(See 5.8.1.)
(See 5.8.1.)
(See 5.8.1.)
Analog
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 smallest value of these set-
tings: the analog voltage refer-
ence limit, Pn402, or Pn404
OFF
Forward external torque limit
OFF
Pn402
Input /N-CL
CN1-46
[Factory setting]
ON Reverse external torque limit ON
The smallest value of these set-
tings: the analog voltage refer-
ence limit, Pn403, or Pn405
OFF
Reverse external torque limit
OFF
Pn403