Speed Limit During Torque Control - YASKAWA SGD7S-1R9D Product Manual

6.1 I/O Signal Allocations

6.1.10 Speed Limit during Torque Control

/NEAR (Near) Signal Setting
You set the condition for outputting the /NEAR (Near) signal (i.e., the near signal width) in
Pn524 (Near Signal Width). The /NEAR signal is output when the difference between the refer-
ence position and the current position (i.e., the position deviation as given by the value of the
deviation counter) is equal to or less than the setting of the near signal width (Pn524).
Pn524
(2524
hex)
Speed
Position
deviation
/NEAR signal
/COIN signal
Note: Normally, set Pn524 to a value that is larger than the setting of Pn522 (Positioning Completed Width).

6.1.10 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 speed
/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
Output
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.
6-12
Near Signal Width
Setting Range Setting Unit
1 to 1,073,741,824 1 reference unit
Reference
Pn524 Pn522
0
With No Speed Limit
Danger of damage due
to hazardous speed.
Speed
Time
Signal Connector Pin No.
/VLT Must be allocated.
6.1.2 Output Signal Allocations on page 6-5
Default Setting
1,073,741,824
Motor speed
Time
Time
(Active when ON (closed).)
Time
(Active when ON (closed).)
Time
Speed limit
Signal Status
ON (closed)
OFF (open)
Position
When Enabled
Immediately
With a Speed Limit
Speed
Safe operation
with speed limit.
Time
Meaning
The Servomotor speed is being limited.
The Servomotor speed is not being lim-
ited.
Classification
Setup