Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 100)

5.2 Command Related Parameters Details
5-11
5
Command Related Parameters
5.2.4 Command Data Options
(1) Torque (Force) Limiting Function
The torque (force) limiting function limits the output torque (force) to protect the connected machine, etc.
There are three ways to limit the output torque (force).
1. Internal torque (force) limit
2. External torque (force) limit using P_CL/N_CL signal of OPTION field
3. Torque (force) limit by position/speed control command
Note: If all of the above three methods are used, the smallest torque (force) limit will be applied.
„ Internal Torque (Force) Limit
This method always limits the maximum output torque (force) to the set values of the following parameters.
Note: Set the limit value in percentage (%) of the motor rated torque (force).
„ External Torque (Force) Limit Using P_CL/N_CL Signal of OPTION Field
This method uses the P_CL/N_CL signal of the OPTION field to limit the output torque (force) to the set val-
ues of the following parameters.
Note: Set the limit value in percentage (%) of the motor rated torque (force).
„ Torque (Force) Limit By Position/Speed Control Command
This methods limits the output torque (force) by setting a desired limit value in the command data (TLIM/
P_TLIM/N_TLIM).
[Torque (Force) Limiting Function Settable Commands]
INTERPOLATE, LATCH, FEED, EX_POSING, ZRET, and VELCTRL
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn402
Forward Torque Limit (For rotational servo-
motors)
2 0 to 800 % 800
Pn403
Reverse Torque Limit (For rotational servo-
motors)
2 0 to 800 % 800
Pn483
Forward Force Limit (For linear servomo-
tors)
2 0 to 800 % 30
Pn484 Reverse Force Limit (For linear servomotors) 2 0 to 800 % 30
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn404 Forward External Torque (Force) Limit 2 0 to 800 % 100
Pn405 Reverse External Torque (Force) Limit 2 0 to 800 % 100