YASKAWA SGD7S-120D, Product Manual

Page: 198 / 603

6.7 Selecting Torque Limits
6.7.1 Internal Torque Limits
6-26
6.7 Selecting Torque Limits
You can limit the torque that is output by the Servomotor.
There are four different ways to limit the torque. These are described in the following table.
Note: If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the maxi-
mum torque of the Servomotor.
6.7.1 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).
•
Rotary Servomotors
*
Set a percentage of the rated motor torque.
Note: If the setting of Pn402 or Pn403 is too low, the torque may be insufficient for acceleration or deceleration of
the Servomotor.
Limit Method Outline Control Method Reference
Internal Torque Limits
The torque is always limited with the setting
of a parameter.
Speed control,
position control, or
torque control
6.7.1
External Torque Limits
The torque is limited with an input signal
from the host computer.
6.7.2
Limiting Torque with
controlword (6040 hex)
A command from the Controller enables the
torque limit that is set in a parameter.
Speed control or
position control
14.6
Limiting Torque with
positive torque limit value
(60E0 hex) and negative
torque limit value
(60E1 hex)
Torque is controlled with torque limits from
the Controller.
13.7
Pn402
(2402
hex)
Forward Torque Limit
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 800 1%
*
800 Immediately Setup
Pn403
(2403
hex)
Reverse Torque Limit
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 800 1%
*
800 Immediately Setup
Speed Position Torque
Speed Position Torque
t
Pn403
Pn402
t
Without Internal Torque Limits
(Output to the maximum torque is possible.)
Maximum torque
Speed
Torque limit
Speed
With Internal Torque Limits