Chapter 7. How to Use Speed Servo
7-6
7.5 Limiting Output Torque
The output torque can be limited within 300% of the rated torque. The output torque can be
limited by digital signal and also by the analog signal. To limit output torque by digital signal,
turn Off contact input (TLIM); and to limit output torque by analog signal, turn ON the contact
input (TLIM). If the output command value is greater than the output torque limit value, the
output torque is limited by the output torque limit value, and the (TRQOUT) output contact is
turned ON.
7.5.1 Limiting digital output torque (TLIM) = OFF
The digital output torque limit can be set for the CW torque limit and CCW torque limit
respectively. Set the submenus [TRQ LMT(+) (P2-05)] and [TRQ LMT(-) (P2-06) of the main
menu [Controller Type (P2--)] as follows.
Menu
Menu name
Unit
Display range
Initial value
Mode
P2-05
TRQ LMT(+) [%]
%
0 ~ 300
300
SP
P2-06
TRQ LMT(-) [%]
%
0 ~ 300
300
SP
7.5.2 limiting analog output torque (TLIM) = ON
Apply voltage between -10[V] ~ +10[V] to analog input (TRQIN) to limit analog output torque.
As the analog output torque limit command input uses the absolute value of the voltage,
voltage of the same size in different code is treated as the same input. For example, +5[V]
input and -5[V] are treated as the same input. The internally used output torque is limited as
follows according to the size of (TRQIN) voltage and the [10V Torque (P5-02)] set value.
(TRQIN)
[10V Torque (P5-02)]
Maximum CW torque = LPF
10
×
100
×
rated torque
(TRQIN)
[10V Torque (P5-02)]
Maximum CCW torque = -LPF
10
×
100
×
rated torque
LPF: Low Pass Filter (Low pass primary filter)
Menu
Menu name
Unit
Display range
Initial value
Mode
P5-01
TRQ CMD TC [ms]
ms
0.0 ~ 1000.0
0.0
SPT
*P5-02
10V Torque
%
0 ~ 300
100
SPT
