YASKAWA SGLFW, User Manual

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9.11 Limiting Force
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9.11.2 External Force Limit (Output Force Limiting by Input Signals)
This function allows the force to be limited at specific times during machine operation, for example, during press
stops and hold operations for robot workpieces.
An input signal is used to enable the force limits previously set in parameters.
(1) Related Parameters
Note: The setting unit is a percentage of rated force (i.e., the rated force is 100%).
(2) Input Signals
Pn404 Forward External Force Limit
Setting Range Setting Unit Factory Setting Setting Validation
0 to 800 % 100 Immediately
Pn405 Reverse External Force Limit
Setting Range Setting Unit Factory Setting Setting Validation
0 to 800 % 100 Immediately
Speed
Position Force
Speed Position Force
Type Signal
Name
Connector Pin
Number
Setting Meaning Limit Value
Input /P-CL CN1-45
(Factory Setting) ON (low level) Forward external force limit
ON The value set in Pn483 or
Pn404 (whichever is smaller)
OFF (high level) Forward external force limit
OFF Pn483
Input /N-CL CN1-46
(Factory Setting) ON (low level) Reverse external force limit
ON The value set in Pn484 or
Pn405 (whichever is smaller)
OFF (high level) Reverse external force limit
OFF Pn484
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.
When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/OFF
state of the other signals. Refer to
8.3.2 Input Circuit Signal Allocation
.