5 Operation5.8.2 External Torque Limit5-565.8.2 External Torque LimitUse this function to limit torque by inputting a signal from the host controller at specific times during machineoperation. For example, some pressure must continually be applied (but not enough to damage the workpiece)when the robot is holding a workpiece or when a device is stopping on contact.(1) Input SignalsUse the following input signals to limit a torque by external torque limit.Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal to another terminal. Fordetails, refer to 3.4.1 Input Signal Allocations.(2) Related ParametersSet the following parameters for external torque limit.The setting unit is a percentage of the rated torque.Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration ordeceleration of the servomotor.Type SignalNameConnectorPin Number Setting Meaning Limit valueInput /P-CL CN1-45[Factory setting]ON(closed) Forward external torque limit ON The smaller value of these set-tings: Pn402 or Pn404OFF(open)Forward external torque limitOFF Pn402Input /N-CL CN1-46[Factory setting]ON(closed) Reverse external torque limit ON The smaller value of these set-tings: Pn403 or Pn405OFF(open)Reverse external torque limitOFF Pn403Pn402Forward Torque Limit ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 800 1% 800 Immediately SetupPn403Reverse Torque Limit ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 800 1% 800 Immediately SetupPn404Forward External Torque Limit ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 800 1% 100 Immediately SetupPn405Reverse External Torque Limit ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 800 1% 100 Immediately SetupSpeed Position TorqueSpeed Position TorqueSpeed Position TorqueSpeed Position Torque
