Torque Reference Filter Settings; Speed Limit During Torque Control - YASKAWA SGD7S series Product Manual

6.7.3

Torque Reference Filter Settings

The torque reference filter is a first order lag filter that is applied to the T-REF (Torque Reference
Input) signal. The torque reference input filter is set in Pn415 (T-REF Filter Time Constant).
If the setting is too high, the response to the torque reference may be slowed down. Monitor
the response as you set this parameter.
T-REF Filter Time Constant
Pn415 Setting Range
0 to 65,535
6.7.4

Speed Limit during Torque Control

You can limit the speed of the Servomotor to protect the machine.
When you use a Servomotor for torque control, the Servomotor is controlled to output the
specified torque, but the motor speed is not controlled. Therefore, if a reference torque is input
that is larger than the machine torque, the speed of the Servomotor may increase greatly. If that
may occur, use this function to limit the speed.
Note: The actual limit of motor speed depends on the load conditions on the Servomotor.
Maximum peed
/VLT (Speed Limit Detection) Signal
The signal that is output when the motor speed is being limited by the speed limit is described
in the following table.
Type Signal
Output /VLT
Note: You must allocate the /VLT signal to use it. Use Pn50F = n.X (/VLT (Speed Limit Detection) Signal Allo-
cation) to allocate the signal to a connector pin. Refer to the following section for details.
6.1.2 Output Signal Allocations on page 6-8
Selecting the Speed Limit
You set the speed limit to use in Pn002 = n.X (Torque Control Option). If you set Pn.002
to n.1 (Use V-REF as an external speed limit input), the smaller of the external speed limit
and the internal speed limit will be used.
Parameter
n.0
(default setting)
Pn002

n.
Note: If you are using a Rotary Servomotor, set Pn407 (Speed Limit during Torque Control). If you are using a Linear
Servomotor, set Pn480 (Speed Limit during Force Control).
Setting Unit
0.01 ms
With No Speed Limit
Danger of damage due
to hazardou
peed
Time
Connector Pin No.
Must be allocated.
Use Pn407 or Pn480 as the speed limit. (Use
internal speed limiting.)
Use V-REF (CN1-5 and CN1-6) as an external
speed limit input signal and limit the speed

1
with the V-REF input voltage and the setting of
Pn300. (Use external speed limiting.)

6.7.3 Torque Reference Filter Settings

Default Setting
0
With a Speed Limit
peed
peed.
peed limit
Signal Status
ON (closed) The Servomotor speed is being limited.
The Servomotor speed is not being lim-
OFF (open)
ited.
Meaning
6.7 Torque Control
Speed Position Torque
When Enabled Classification
Immediately Setup
afe operation
with peed limit.
Time
Meaning
When Enabled Classification
After restart Setup
6
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