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3. SIGNALS AND WIRING
3.6.3 Torque limit
CAUTION
If the torque limit is canceled during servo lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
(1) Torque limit and torque
By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque is
always limited to the maximum value during operation. A relationship between the limit value and servo
motor torque is shown below.
0 100100
[%]
CW direction Max. torque CCW direction
Torque
Torque limit value in
parameter No. PA12
Torque limit value in
parameter No. PA11
A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the
servo motor is shown below. Torque limit values will vary about 5% relative to the voltage depending on
products.
At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore, use this
function at the voltage of 0.05V or more.
100
0
010
5%
0.05
Torque limit value [%]
TLA application voltage vs.
torque limit value
TLA application voltage [V]
TL1
DOCOMD
P15R
TLA
LG
SD
2k
2k
MR-J3-D01
TL
(Note)
Japan resistor
RRS10 or equivalent
Connection example
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.