8.6 Limiting Torque8-25 Operation88.6 Limiting TorqueThe SERVOPACK provides the following four methods for limiting output torque to protect the machine.Each method uses the set minimum torque to limit the output.For details, refer toΣ-V-SD series User’s Manual For Command Profile EtherCAT (CoE) CommunicationsReference (manual no.: SIEP S800000 95). Internal Torque LimitThis function always limits maximum output torque by setting values of following parameters.• Servomotor (Pn01E.0 = 0, 2, 4)The setting unit is a percentage of the rated torque.Note 1. If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration ofthe servomotor.2. The maximum torque of the servomotor is used whenever the value exceeds the maximum torque.Limiting Method Parameters (Index Numbers)Torque limited by parameter setting only. Pn402 (20A0h:1)Pn403 (20A0h:2)Torque limit set by parameter enabled bycommand from controller.PnB11 (6040h)Pn404 (20A3h:1)Pn405 (20A3h:2)Torque limit controlled from controller.PnB38 (6072h)PnB80 (60E0h)PnB82 (60E1h)Pn402(20A0h:1)Forward Torque Limit ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 800 1% 800 Immediately SetupPn403(20A0h:2)Reverse Torque Limit ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 800 1% 800 Immediately SetupSpeed PositionSpeed PositionTrace WaveformNo Internal Torque Limit(Maximum Torque Can Be Output) Internal Torque LimitSpeedMaximum torquetSpeedPn403Pn402Limiting torquet
