8.6 Limiting Torque
8-25
Operation
8
8.6
Limiting Torque
The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
Each method uses the set minimum torque to limit the output.
For details, refer to
Σ
-V-SD series User’s Manual For Command Profile EtherCAT (CoE) Communications
Reference
(manual no.: SIEP S800000 95).
Internal Torque Limit
This function always limits maximum output torque by setting values of following parameters.
• Servomotor (Pn01E.0 = 0, 2, 4)
The setting unit is a percentage of the rated torque.
Note 1. If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of
the servomotor.
2. The maximum torque of the servomotor is used whenever the value exceeds the maximum torque.
Limiting Method
Parameters (Index Numbers)
Torque limited by parameter setting only.
Pn402 (20A0h:1)
Pn403 (20A0h:2)
Torque limit set by parameter enabled by
command from controller.
PnB11 (6040h)
Pn404 (20A3h:1)
Pn405 (20A3h:2)
Torque limit controlled from controller.
PnB38 (6072h)
PnB80 (60E0h)
PnB82 (60E1h)
Pn402
(20A0h:1)
Forward Torque Limit
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Setup
Pn403
(20A0h:2)
Reverse Torque Limit
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Setup
Speed
Position
Speed
Position
Trace Waveform
No Internal Torque Limit
(Maximum Torque Can Be Output)
Internal Torque Limit
Speed
Maximum torque
t
Speed
Pn403
Pn402
Limiting torque
t
