E1 Series Servo Drive User Manual Application Function
HIWIN MIKROSYSTEM CORP. 8-51
Note:
(1) When controller is used, T1 must be greater than 2 ms. Soft start function does not affect the value of T1.
(2) A maximum 2 ms delay may occur for the switching of SPD-A and SPD-B signals.
(3) While switching from internal velocity mode to position mode, Pt306 (Soft start deceleration time) is applied to
decelerate the motor to a stop. Then the control mode is switched to position mode. The servo drive accepts
pulse command after the control mode is switched to position mode. Pulse command must be input after the
control mode is switched. Positioning completion output (COIN) signal is output after the control mode is
switched to position mode. Use COIN signal to check if the control mode is switched to position mode.
8.10 Torque limit function
E1 series servo drive provides four methods to limit output torque.
Table8.10.1
Torque Limiting Method Description Control Mode
Internal torque limit The torque is limited by parameter.
All control modes
External torque limit The torque is limited by input signal.
Limiting torque with analog command
The torque is limited by analog
command.
Position mode, velocity
mode, internal position
mode and internal velocity
mode
Limiting torque with external torque limit
and analog command
The torque is limited by external
torque limit and analog command.
Different wiring may be required for different torque limiting method. Select torque limiting method by
Pt002 = t.X.
Note:
The actual torque is limited to the maximum rated torque when the setting value exceeds the maximum rated torque.
Table8.10.2
Type Signal Default Signal CN6 Pin Description
Input
T-REF+ - 16
T-REF signal is used as torque limit.
T-REF- - 17
P-CL I6 26
Forward external torque limit input (P-CL) signal is used
as external torque limit.
N-CL I7 32
Reverse external torque limit input (N-CL) signal is used
as external torque limit.
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