5.8 Limiting Torque5-615 Operation(3) Changes in Output Torque during External Torque LimitingThe following diagrams show the change in output torque when the internal torque limit is set to 800%.In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction).5.8.3 Torque Limiting Using an Analog Voltage ReferenceFor torque limiting by analog voltage reference, the torque is limited by using the analog voltage at the T-REFterminals for CN1-9 and CN1-10.From the torque limit value by analog reference and torque limit value by Pn402 and Pn403, whichever issmaller will be applied.This function can be used only during speed or position control, not during torque control.The following chart shows when the torque limiting using an analog voltage reference is performed in thespeed control.There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute val-ues of both + and - voltages are input, and a torque limit value corresponding to that absolute value is appliedin the forward and reverse direction./P-CLOFF ON/N-CLOFFONPn402Pn4030TorqueSpeedPn4030Pn404Pn402TorqueSpeed0Pn403Pn405Pn402TorqueSpeed0Pn403Pn405Pn404Pn402TorqueSpeedParameter Meaning When Enabled ClassificationPn002 n.1 Uses the T-REF terminal as an external torque limitinput. After restart SetupPn300 +++-Pn400T-REFV-REFT-REF filter time constantPn101Pn415Pn100Torque reference input gainPn402SpeedloopgainSpeed feedbackTorque limitvalueSpeedreference TorquereferenceForwardtorque limitPn403Reverse torque limitSERVOPACKSpeedreference inputgain Speed loopintegral timeconstant(See 5.5.1.)(See 5.3.1.)(See 5.8.1.)(See 5.8.1.)(See 6.9.2.)Ana-log
