4.6 Limiting Torque4-334 Operation4.6 Limiting TorqueThe SERVOPACK provides the following four methods for limiting output torque to protect the machine.∗ For details, refer to theΣ-V Series/DC Power InputΣ-V Series/Σ-V Series for Large-Capacity Models User’s ManualMECHATROLINK-II Commands (Manual No.: SIEP S800000 54).Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.4.6.1 Internal Torque LimitThis function always limits maximum output torque by setting values of following parameters.∗ Percentage (%) of rated motor 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. 4.6.1External torque limit Limits torque by input signal from the host controller. 4.6.2Torque limit with P_TLIM,N_TLIM commands * Limit torque by using the P_TLIM and N_TLIM commands. –Torque limit with P_CL/N_CL signals of OPTIONField and P_TLIM/N_TLIMcommands *Combines torque limit methods by using an external input andP_TLIM and N_TLIM commands. –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
