7 Operation
7.5.1 Internal Torque Limit
7-22
7.5
Limiting Torque
The SERVOPACK provides the following three methods for limiting output torque to protect the machine.
∗
Refer to the
Σ
-V-MD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands
(Manual No.:
SIEP S800001 03) for details.
Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.
7.5.1
Internal Torque Limit
This function always limits maximum output torque by setting values of following parameters.
The setting unit is a percentage of the rated torque.
Note: If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of the
servomotor.
Torque waveform
7.5.2
Checking the Torque Limit
Use a servo profile command to check the motor output torque limit status.
Refer to the
Σ
-V-MD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands
(Manual
No.: SIEP S800001 03) for details on the servo profile commands.
Limiting Method
Description
Reference
Section
Internal torque limit
Always limits torque by setting the parameter.
7.5.1 Internal
Torque Limit
Torque limit with the com-
mand data (TLIM)
*
Limits torque by using the command data (TLIM) for torque lim-
iting function settable commands.
–
Torque limit with P_CL and
N_CL signals of the servo
command output signals
(SVCMD_IO)
*
Limits torque by using P_CL and N_CL signals of the servo com-
mand output signals (SVCMD_IO).
–
Pn402
Forward Torque Limit
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Setup
Pn403
Reverse Torque Limit
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Setup
Speed
Position
Torque
Speed
Position
Torque
Speed
Maximum torque
t
Speed
Pn403
Pn402
Limiting torque
t
No Internal Torque Limit
(Maximum torque can be output)
Internal Torque Limit
