6.7 Selecting Torque Limits
6.7.2 External Torque Limits
6-27
6
Application Functions
•
Linear Servomotors
*
Set a percentage of the rated motor force.
Note: If the setting of Pn483 or Pn484 is too low, the force may be insufficient for acceleration or deceleration of the
Servomotor.
6.7.2
External Torque Limits
You can limit the torque only when required by the operating conditions of the machine by turn-
ing a signal ON and OFF.
You can use this for applications such as stopping on physical contact, or holding a workpiece
with a robot.
External Torque Limit Reference Signals
The /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit) signals
are used as the external torque limit reference signals. The /P-CL signal is used for the forward
torque limit and the /N-CL signal is used for the reverse torque limit.
*1.
Pn483 is used for a Linear Servomotor.
*2.
Pn484 is used for a Linear Servomotor.
Note: You must allocate the /P-CL and /N-CL signals to use them. You can use the following parameters to allocate
the signal to a terminal.
•
Pn50B = n.
X
(/P-CL (Forward External Torque Limit Input) Signal Allocation)
•
Pn50B = n.X
(/N-CL (Reverse External Torque Limit Input) Signal Allocation)
Refer to the following section for details.
6.1.1 Input Signal Allocations
Pn483
(2483
hex)
Forward Force Limit
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 800
1%
*
30
Immediately Setup
Pn484
(2484
hex)
Reverse Force Limit
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 800
1%
*
30
Immediately Setup
Speed
Position
Force
Speed
Position
Force
t
Pn484
Pn483
t
Without Internal Force Limits
(Output to the maximum force is possible.)
Speed
With Internal Force Limits
Maximum force
Speed
Force limit
Type
Signal
Connector Pin No.
Signal Status
Meaning
Input
/P-CL
Must be allocated.
ON (closed)
Applies the forward external torque limit.
The torque is limited to the smaller of the set-
tings of Pn402
*1
and Pn404.
OFF (open)
Cancels the forward external torque limit.
The torque is limited to the setting of Pn402
*1
.
Input
/N-CL
Must be allocated.
ON (closed)
Applies the reverse external torque limit.
The torque is limited to the smaller of the set-
tings of Pn403
*2
and Pn404.
OFF (open)
Cancels the reverse external torque limit.
The torque is limited to the setting of Pn403
*2
.
