8 Operation
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
8-72
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
This function allows the torque to be limited at specific times during machine operation, for example, during
press stops and hold operations for robot workpieces.
An input signal is used to enable the torque limits previously set in parameters.
(1) Related Parameters
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
(2) Input Signals
(3) Changes in Output Torque during External Torque Limiting
Example: External torque limit (Pn402, Pn403) set to 800%
Note: In this example, the servomotor rotation direction is Pn000 = n.
0 (standard setting, CCW =
forward).
Pn404
Forward External Torque Limit
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
1%
100
Immediately
Pn405
Reverse External Torque Limit
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
1%
100
Immediately
Speed
Position
Torque
Speed
Position
Torque
Type
Signal
Name
Connector Pin
Number
Setting
Meaning
Limit Value
Input /P-CL
CN1-45
(Factory Setting)
ON (low level)
Forward external torque limit
ON
The value set in Pn402 or
Pn404 (whichever is smaller)
OFF (high level)
Forward external torque limit
OFF
Pn402
Input /N-CL
CN1-46
(Factory Setting)
ON (low level)
Reverse external torque limit
ON
The value set in Pn403 or
Pn405 (whichever is smaller)
OFF (high level)
Reverse external torque limit
OFF
Pn403
When using this function, 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. Refer to
7.3.2 Input Circuit Signal Allocation
.
/P-CL (Forward External Torque Limit Input)
High level
Low level
/N-CL
(Reverse
External
Torque Limit
Input)
High
level
Low
level
Pn403
Pn402
0
Torque
Speed
Pn403
0
Pn404
Pn402
Torque
Speed
0
Pn403
Pn405
Pn402
Torque
Speed
0
Pn403
Pn405
Pn404
Pn402
Torque
Speed
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