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3. SIGNALS AND WIRING
3.4.4 Torque limit
POINT
To use the torque limit, make the external torque limit selection (TL) and
internal torque limit selection (TL2) available.
The following table lists the signals and parameters related to the torque limit.
Item Name Remarks
Analog input signal Analog torque limit (TLA)
External torque limit selection (TL)
Contact input signals
Internal torque limit selection (TL2)
Contact output signal Limiting torque (TLC)
MR Configurator (servo configuration
software) setting required.
No.28 (internal torque limit 1) 0 to 100%
No.29 (internal torque limit 2) 0 to 100%
No.26 (torque limit offset) 999 to 999mV
Parameters
No.59 (function selection 2)
Selection of the rotation direction in which
torque limit is executed
The torque limit is available in two types: internal torque limit set in parameters and analog torque limit
(TLA) using analog input signal. This function limits torque on the assumption that the maximum torque
of the servo motor is 100%.
(1) Internal torque limits 1, 2
Use parameter No.28 and 29 to set the internal torque limit values. The following graph shows the
torque relative to the setting.
Max. torque
0
0100
Torque limit value [%]
Torque
(2) Analog torque limit (TLA)
By applying a voltage (0 to 10V) to the analog torque limit (TLA) terminal, limit values can be set from
outside consecutively. The following graph shows the relationship between input voltage and limit
value.
Depending on the servo amplifier, the limit value has about 5% variations to the input voltage. As this
may not cause torque to be limited sufficiently at less than 0.05V, use this function at the voltage of
0.05V or more.
Refer to the following diagram when using the 15V power output (P15R) of the servo amplifier:
100
0
010
TLA application voltage [V]
TLA Application Voltage vs.
Torque Limit Value
Torque limit value [%]
5%
0.05
TL
SG
P15R
TLA
LG
SD
Servo amplifie
r
Japan Resistor RRS10
or equivalent
Connection Example
2k
2k