ProNet series AC servo system User’s manual V.1.08
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(3)Changes
(3)Changes
(3)Changes
(3)Changes in
in
in
in Output
Output
Output
Output Torque
Torque
Torque
Torque during
during
during
during External
External
External
External Torque
Torque
Torque
Torque Limiting
Limiting
Limiting
Limiting
Example: External torque limit (Pn401
，
Pn402) set to 300%
Note: Select the servomotor rotation direction by setting Pn001=b.□□□0 (standard setting, CCW=
Forward direction).
4.9.3 Torque Limiting Using an Analog Voltage Reference
Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage
to the T-REF terminals (CN1-26,27). This function can be used only during speed or position control,
not during torque control.
Refer to the following block diagram when the torque limit with an analog voltage reference is used for
speed control.
S ervodrive
T orque reference
T orque reference
T orque reference
T orque reference
in p u t gain
in p u t gain
in p u t gain
in p u t gain
（
P n
P n
P n
P n 400
400
400
400 ))))
Speed reference input
Speed reference input
Speed reference input
Speed reference input
gain
gain
gain
gain
（
P n
P n
P n
P n 300
300
300
300 ))))
V
V
V
V----R E F
R E F
R E F
R E F
T
T
T
T----R E F
R E F
R E F
R E F
T orque lim it value
S peed reference
S p eed loop gain
S p eed loop gain
S p eed loop gain
S p eed loop gain
((((P n
P n
P n
P n 102
102
102
102 ))))
S p eed loop
S p eed loop
S p eed loop
S p eed loop
in tegral tim e
in tegral tim e
in tegral tim e
in tegral tim e
con stan t
con stan t
con stan t
con stan t
((((P n
P n
P n
P n 103
103
103
103 ))))
P n
P n
P n
P n 402
402
402
402
((((reverse rotation torq u e lim it
reverse rotation torq u e lim it
reverse rotation torq u e lim it
reverse rotation torq u e lim it
))))
T orq u e referen ce
T orq u e referen ce
T orq u e referen ce
T orq u e referen ce
P n
P n
P n
P n 401
401
401
401
((((forward rotation torq u e lim it
forward rotation torq u e lim it
forward rotation torq u e lim it
forward rotation torq u e lim it
))))
S p eed feed b ack
S p eed feed b ack
S p eed feed b ack
S p eed feed b ack
+
+
+
+
—
+
+
+
+
+
+
+
+
(1)Related
(1)Related
(1)Related
(1)Related Parameters
Parameters
Parameters
Parameters
/P-CL(Forward External Torque Limit Input)
High level
Low level
/N-CL
(Reverse
External
Torque
Limit Input)
High
level
Spe e d
Spe e d
Spe e d
Spe e d
T orque
T orque
T orque
T orque
P n
P n
P n
P n 4 0 1
4 0 1
4 0 1
4 0 1
P n
P n
P n
P n 4 0 2
4 0 2
4 0 2
4 0 2
0
0
0
0
Spe e d
Spe e d
Spe e d
Spe e d
T orque
T orque
T orque
T orque
P n
P n
P n
P n 4 0 1
4 0 1
4 0 1
4 0 1
P n
P n
P n
P n 4 0 2
4 0 2
4 0 2
4 0 2
0
0
0
0
P n
P n
P n
P n 4 0 3
4 0 3
4 0 3
4 0 3
Low
level
Spe e d
Spe e d
Spe e d
Spe e d
T orque
T orque
T orque
T orque
P n
P n
P n
P n 4 0 1
4 0 1
4 0 1
4 0 1
P n
P n
P n
P n 4 0 2
4 0 2
4 0 2
4 0 2
0
0
0
0
P n
P n
P n
P n 4 0 4
4 0 4
4 0 4
4 0 4
Spe e d
Spe e d
Spe e d
Spe e d
T orque
T orque
T orque
T orque
P n
P n
P n
P n 4 0 1
4 0 1
4 0 1
4 0 1
P n
P n
P n
P n 4 0 2
4 0 2
4 0 2
4 0 2
0
0
0
0
P n
P n
P n
P n 4 0 4
4 0 4
4 0 4
4 0 4
P n
P n
P n
P n 4 0 3
4 0 3
4 0 3
4 0 3
Important
Important
Important
Important
：
There is no polarity in the input voltage of the analog voltage reference for torque limiting.
The absolute values of both + and – voltages are input, and a torque limit value corresponding to
that absolute value is applied in the forward or reverse direction.
Parameter
Parameter
Parameter
Parameter
Meaning
Meaning
Meaning
Meaning
Pn001
b.□1□□
Uses the T-REF terminal to be used as an external torque limit input.
