YASKAWA E-S Series Product Manual

Contents

5.4 Settings That Must Be Adjusted to the System5.4.3 Torque Limit Selection5-255 SetupElectronic Gear Ratio Setting ExamplesSetting examples are provided in this section.5.4.3 Torque Limit SelectionYou can limit the torque that is output by the Servomotor.There are three ways to limit torque.Note: 1. If more than one torque limit is enabled, the smallest torque limit is used.2. If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to themaximum torque of the Servomotor.Internal Torque LimitsIf 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).Step DescriptionMachine ConfigurationBall Screw Rotary Table Belt and Pulley1 MachineSpecifications• Ball screw lead: 6 mm• Gear ratio: 1/1• Rotation angle per revo-lution: 360°• Gear ratio: 1/100• Pulley dia.: 100 mm(Pulley circumference:314 mm)• Gear ratio: 1/502 Encoder Resolution 1,024 (10 bits) 1,024 (10 bits) 1,024 (10 bits)3 Reference Unit 0.002 mm (20 μm) 0.01° 0.05 mm (50 μm)4Travel Distance perLoad Shaft Revolution(Reference Units)6 mm/0.02 mm = 300 360°/0.01° = 36,000 314 mm/0.05 mm =6,2805 Electronic Gear Ratio6 Parameters Pn20E: 1,024 Pn20E: 10,240 Pn20E: 51,200Pn210: 300 Pn210: 3,600 Pn210: 6,280Ball screw lead:6 mmEncoder:10 bitsLoad shaftReference unit: 0.02 mmEncoder:10 bitsLoad shaftReference unit: 0.01°Gear ratio:1/100Load shaftGear ratio:1/50Reference unit: 0.05 mmPulley dia.: 100 mmEncoder: 10 bits1,02430011= ×BABA1,02436,0001001= × BA1,0246,280501= ×Limit Method Description ReferenceInternal TorqueLimitsThe torque is always limited with the setting of aparameter. Internal Torque Limits on page 5-25External TorqueLimitsThe torque is limited with an input signal fromthe host computer. External Torque Limits on page 5-26Program TableTorque LimitsYou can use the torque limits (TLIMT andPTLIMT) in the program table to limit the torqueaccording to the program step.7.3 Program Table Operation on page 7-13Set the internal torque limits to higher values than the positioning torque limits (TLIMT) or press-ing torque limits (PTLIMT) in the program table and to higher values than the external torque lim-its.Note