4.4 Limiting Torque4-314 Operation4.4 Limiting TorqueThe SERVOPACK provides the following four methods for limiting output torque to protect the machine.∗ For details, refer toΣ-V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.4.4.1 Internal Torque LimitThis function always limits maximum output torque by setting values of following parameters.The setting unit is a percentage of the rated torque.Note: If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of theservomotor.Torque waveformLimiting Method Description Reference Sec-tionInternal torque limit Always limits torque by setting the parameter. 4.4.1External torque limit Limits torque by input signal from the host controller. 4.4.2Torque limit with P_TLIM,N_TLIM commands * Limit torque by using the P_TLIM and N_TLIM commands. –Torque limit with commandoption moduleLimits torque by inputting a desired torque limit command to thecommand option module from the host controller.Refer to the manualof the commnadoption module tobe connected.Pn402Forward 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 SetupSpeed Position TorqueSpeed Position TorqueSpeedMaximum torquetSpeedPn403Pn402Limiting torquetNo Internal Torque Limit(Maximum torque can be output) Internal Torque Limit Rotation
