Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 119)

4 Operation
4.6.2 External Torque Limit
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4.6.2 External Torque Limit
Use this function to limit torque by inputting a signal from the host controller at specific times during machine
operation. For example, some pressure must continually be applied (but not enough to damage the workpiece)
when the robot is holding a workpiece or when a device is stopping on contact.
(1) Input Signals
Use the following input signals to limit a torque by external torque limit.
Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For details, refer to
3.3.1 Input Signal Allocations.
(2) Related Parameters
Set the following parameters for external torque limit.
The setting unit is a percentage of the rated torque.
Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or
deceleration of the servomotor.
Type
Signal
Name
Connector
Pin Number
Setting Meaning Limit value
Input /P-CL Must be allocated
ON
(closed)
Forward external torque limit ON
The smaller value of these set-
tings: Pn402 or Pn404
OFF
(open) Forward external torque limit
OFF
Pn402
Input /N-CL Must be allocated
ON
(closed)
Reverse external torque limit ON The smaller value of these set-
tings: Pn403 or Pn405
OFF
(open) Reverse external torque limit
OFF
Pn403
Pn402
Forward Torque Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup
Pn403
Reverse Torque Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup
Pn404
Forward External Torque Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately Setup
Pn405
Reverse External Torque Limit
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately Setup
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque