5.8 Limiting Torque5-575 Operation5.8.4 Torque Limiting Using an External Torque Limit and Analog VoltageReferenceThis function can be used to combine torque limiting by an external input and by analog voltage reference.When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (orPn405) will be applied as the torque limit, whichever is smaller.The following chart shows the external torque limiting using an analog voltage reference.Note: This function cannot be used during torque control since the torque limit by analog voltage reference is input fromT-REF (CN1-3, 4).(1) Input SignalsUse the following input signals to limit a torque by external torque limit and analog voltage reference.Refer to 5.5.1 Basic Settings for Torque Control.Parameter Meaning When Enabled ClassificationPn002 n.3 When /P-CL or /N-CL is enabled, the T-REF terminalis used as the external torque limit input. After restart SetupPn300+++-T-REFV-REF/N-CL/P-CLPn101Pn100Pn400T-REF filter time constantPn415Torque limitvalueSpeedreferencePn404(/P-CL: ON)Pn402Pn405Reverse external torque limit(/N-CL: ON)Pn403SpeedloopgainSpeed feedbackTorquereferenceSERVOPACKTorque reference input gainForwardtorquelimitForwardexternaltorque limitReverse torque limitSpeedreference inputgainSpeed loopintegral timeconstant(See 5.5.1) (See 6.9.2)(See 5.3.1)(See 5.8.1)(See 5.8.1)(See 5.8.1)(See 5.8.1)AnalogType Signal Name ConnectorPin Number NameInput T-REF CN1-3 Torque reference inputSG CN1-4 Signal ground for torque reference inputType SignalNameConnectorPin Number Setting Meaning Limit ValueInput /P-CL CN1-26[Factory setting]ON Forward external torque limit ONThe smallest value of these set-tings: the analog voltage refer-ence limit, Pn402, or Pn404OFF Forward external torque limitOFF Pn402Input /N-CL CN1-12[Factory setting]ON Reverse external torque limit ONThe smallest value of these set-tings: the analog voltage refer-ence limit, Pn403, or Pn405OFF Reverse external torque limitOFF Pn403
