Estun Summa ED3S, Product Manual

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Summa Series Servodrive Product Manual
Application Functions
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved. 7-16
7.9 Torque Limit
You can limit the torque that is output by the Motor.
There are four different ways to limit the torque. These are described in the following table.
Limit Method Outline Reference
Internal Torque Limits The torque is always limited with the setting of a parameter. 7.9.1
External Torque Limits
The torque is limited with an input signal from the host
station.
7.9.2
Limiting torque with
EtherCAT command
The torque is limited with the settings of objects 60E0h
(PosTorLimit) and 60E1h (NegTorLimit) in EtherCAT
command.
6.8
Limiting torque with
/CLT output signal The torque is limited by the output signal /CLT (Allocated by
Pn511).
7.9.3
NOTE : If you set a value that exceeds the maximum torque of the Motor, the torque will be limited to the maximum
torque of the Motor.
7.9.1 Internal Torque Limits
If you use internal torque limits, the maximum output torque will always be limited to the specified
forward torque limit (Pn401) and reverse torque limit (Pn402).
Parameter Name Range Unit Default When Enabled
Pn401 Forward Internal Torque Limit 0 to 350 % 300 Immediately
Pn402 Reverse Internal Torque Limit 0 to 350 % 300 Immediately
If the setting of Pn401 or Pn402 is too low, the torque may be insufficient for acceleration or deceleration
of the Motor.
t
Speed
Maximum Torque
t
Speed
Torque Limit
Pn402
Pn401
Without Internal
Torque Limits
With Internal
Torque Limits
7.9.2 External Torque Limits
You can limit the torque only when required by the operating conditions of the machine by turning a
signal ON and OFF.
You can use this for applications such as stopping on physical contact, or holding a workpiece with a
robot.