SMC Networks LECYU Series, Operation Manual

Page: 130 / 250

4 Operation
4-31
4.6.2 External Torque Limit
Use this function to limit torque by inputting a signal from the host PC or PLC...etc 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.
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
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.
Pn402
Forward Torque Limit
Speed
Position
Torque
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately
Setup
Pn403
Reverse Torque Limit
Speed
Position
Torque
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately
Setup
Pn404
Forward External Torque Limit
Speed
Position
Torque
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately
Setup
Pn405
Reverse External Torque Limit
Speed Position Torque
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately
Setup
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.