YASKAWA SGD7S Product Manual page 194

6.1 I/O Signal Allocations
6.1.10 Speed Limit during Torque Control
Selecting the Speed Limit
The smaller of the external speed limit and internal speed limit will be used.
Pn002
 Internal Speed Limiting
Set the speed limit for the motor in Pn407 (Speed Limit during Torque Control) or Pn480
(Speed Limit during Force Control).
Also set Pn408 = n.X (Speed Limit Selection) to specify using the maximum motor speed
or the overspeed alarm detection speed as the speed limit. Select the overspeed alarm detec-
tion speed to limit the speed to the equivalent of the maximum motor speed.
Pn408
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).
• Rotary Servomotors
Pn407
• Linear Servomotors
Pn480
Note: If the parameter setting exceeds the maximum speed of the Servomotor, the Servomotor's maximum speed
or the overspeed alarm detection speed will be used.
 External Speed Limiting
The motor speed will be limited by VLIM (Limit Speed for Torque Control). Refer to the following
manual for details.
Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
6-14
Parameter
 
n. 0 Reserved settings (Do not use.)
Use the speed limit from the VLIM (Limit
 
n. 1
Speed for Torque Control) command as the
(default setting)
speed limit. (Use external speed limiting.)
Parameter
Use the smaller of the maximum motor speed
n.0
and the setting of Pn407 or Pn480 as the
(default setting)
speed limit.
Use the smaller of the overspeed alarm detec-
 
n. 1 tion speed and the setting of Pn407 or Pn480
as the speed limit.
Speed Limit during Torque Control
Setting Range
0 to 10,000
Speed Limit during Force Control
Setting Range
0 to 10,000
Meaning
Meaning
Setting Unit Default Setting
-1
10000
1 min
Setting Unit Default Setting
1 mm/s 10000
When Enabled Classification
After restart Setup
When Enabled Classification
After restart Setup
Torque
When Enabled Classification
Immediately Setup
Force
When Enabled Classification
Immediately Setup