YASKAWA E-7-Series SGD7S Product Manual page 212

 Internal Speed Limiting
If you select internal speed limiting for the torque control option (Pn002 = n.0), 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.
Parameter
n.0
(default setting)
Pn408
 
n. 1
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
Speed Limit during Torque Control
Setting Range
Pn407
0 to 10,000
• Linear Servomotors
Speed Limit during Force Control
Pn480 Setting Range
0 to 10,000
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
If you select external speed limiting for the torque control option (Pn002 = n.1), set the V-
REF (Speed Reference Input) signal and the speed reference input gain (Pn300).
Type Signal Connector Pin No.
V-REF CN1-5
Input
SG CN1-6
During torque control, the motor speed limit is controlled by the analog voltage reference.
1. If you set Pn002 to n.1, the smaller of the speed limit input with the V-REF signal
Information
and the value of Pn407 or Pn480 is used.
2. The setting of Pn300 determines the voltage level to be input as the speed limit. The polar-
ity has no effect.
3. If you set Pn300 to 6.00 (default setting) and 6 V is input to the V-REF (CN1-5 and CN1-6)
signal, the speed is limited to the rated speed of the Servomotor.
Speed Reference Input Gain
Pn300 Setting Range
150 to 3,000
Meaning
Use the smaller of the maximum motor speed
and the setting of Pn407 or Pn480 as the
speed limit.
Use the smaller of the overspeed alarm detec-
tion speed and the setting of Pn407 or Pn480
as the speed limit.
Setting Unit Default Setting
-1
1 min
Setting Unit Default Setting
1 mm/s
External speed limit input
Signal ground for external speed limit input
Setting Unit Default Setting
0.01 V
6.7.4 Speed Limit during Torque Control
When Enabled
After restart
When Enabled
10000 Immediately
When Enabled
10000 Immediately
Name
Speed
When Enabled
600 Immediately
6.7
Torque Control
Classification
Setup
Torque
Classification
Setup
Force
Classification
Setup
Position Torque
Classifica-
tion
Setup
6-43
6