5-4-7. Torque limit
1. Internal torque limit (output torque max value limit)
The function is to limit the max output torque by parameters.
Internal Forward torque limit
Internal Reverse torque limit
1. This parameter is always effective, if this parameter value is less than external torque limit value, the
final limit value is this parameter.
2. The unit is percent of the motor rated torque; the default value is 300%. The real output torque is
different for each type.
2. External torque limit (via input signal)
This function is used in machine motion or timing torque limit. For example: press stop action or robot
workpiece protection.
The torque limit value will be effective when the input signal is ON.
Forward external torque limit
The unit is the percent of motor rated torque; the default value is 300%.
The necessary condition to use
forward external torque limit
The necessary condition to use
reverse external torque limit
Notes: these parameres are the necessary conditions for using forward or reverse external torque limit.
/P-CL, /N-CL can be distributed to input terminal by parameter P5-25, P5-26. Refer to chapter
5-12-1.
3. External torque limit (via analog voltage command)
This function control the torque via analog voltage. T-REF terminal is used as analog voltage command
terminal. Please note in external analog torque control mode, this function cannot be used.
Distribute
function to T-REF
Make T-REF as
external torque limit
input
1. For analog voltage command input of torque limit. Get the absolute value of the voltage, the torque
limit value based on the absolute value is suitable for forward and reverse direction.
2. When it is used as torque limit, the value is related to voltage command and P3-24. For example,
P3-24=1000, T-REF voltage command is 5.0V, the torque limit value is 50% of rated torque.
Speed coincidence signal width
If the difference between motor speed and command speed is less than the value of P5-04, servo
outputs /V-CMP signal.
There is default 10rpm hysteresis loop, please refer to chapter 5-11-4 for hysteresis loop.
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