YASKAWA E-S Series, Product Manual

Page: 108 / 288

5.4 Settings That Must Be Adjusted to the System
5.4.3 Torque Limit Selection
5-25
5
Setup
Electronic Gear Ratio Setting Examples
Setting examples are provided in this section.
5.4.3 Torque Limit Selection
You can limit the torque that is output by the Servomotor.
There are three ways to limit torque.
Note: 1. If more than one torque limit is enabled, the smallest torque limit is used.
2. If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the
maximum torque of the Servomotor.
Internal Torque Limits
If you use internal torque limits, the maximum output torque will always be limited to the speci-
fied forward torque limit (Pn402) and reverse torque limit (Pn403).
Step Description
Machine Configuration
Ball Screw Rotary Table Belt and Pulley
1
Machine
Specifications
•
Ball screw lead: 6 mm
•
Gear ratio: 1/1
•
Rotation angle per revo-
lution: 360
°
•
Gear ratio: 1/100
•
Pulley dia.: 100 mm
(Pulley circumference:
314 mm)
•
Gear ratio: 1/50
2 Encoder Resolution 1,024 (10 bits) 1,024 (10 bits) 1,024 (10 bits)
3 Reference Unit 0.002 mm (20
μ
m) 0.01
°
0.05 mm (50
μ
m)
4
Travel Distance per
Load Shaft Revolution
(Reference Units)
6 mm/0.02 mm = 300 360
°
/0.01
°
= 36,000
314 mm/0.05 mm =
6,280
5 Electronic Gear Ratio
6 Parameters
Pn20E: 1,024 Pn20E: 10,240 Pn20E: 51,200
Pn210: 300 Pn210: 3,600 Pn210: 6,280
Ball screw lead:
6 mm
Encoder:
10 bits
Load shaft
Reference unit: 0.02 mm
Encoder:
10 bits
Load shaft
Reference unit: 0.01
°
Gear ratio:
1/100
Load shaft
Gear ratio:
1/50
Reference unit: 0.05 mm
Pulley dia.: 100 mm
Encoder: 10 bits
1,024
300
1
1
=
×
B
A
B
A
1,024
36,000
100
1
=
×
B
A
1,024
6,280
50
1
=
×
Limit Method Description Reference
Internal Torque
Limits The torque is always limited with the setting of a
parameter.
Internal Torque Limit s on page 5-25
External Torque
Limits The torque is limited with an input signal from
the host computer.
External Torque Limit s on page 5-26
Program Table
Torque Limits
You can use the torque limits (TLIMT and
PTLIMT) in the program table to limit the torque
according to the program step.
7.3 Program Table Operation on page 7-
13
Set the internal torque limits to higher values than the positioning torque limits (TLIMT) or press-
ing torque limits (PTLIMT) in the program table and to higher values than the external torque lim-
its.
Note