YASKAWA SVC User Manual page 101

3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
Setting Precautions
• The speed limit can be changed during operation. However, if an incorrect setting is made
during operation, it may affect the movement of the machine.
• If this parameter is set to 0, no speed limit check is performed.
• If a value outside the valid setting range is set for the speed limit, no limit processing is per-
formed. (Operation is the same as for a set value of 0.)
• If a speed reference is issued that exceeds the set speed limit when any of the following
motion commands is executed, a reference is issued to the slave SERVOPACK with the value
of the speed limit. In this case, the following warning also occurs.
Applicable commands: POSING, EX_POSING, ZRET, FEED, STEP, VELO, and EX_FEED
Warning: Setting Parameter Error (IL02, Bit 1)
• If a speed reference is issued that exceeds the set speed limit when any of the following
motion commands is executed, the following alarm occurs and the axis is stopped.
Applicable commands: INTERPOLATE, LATCH, and PHASE
Alarm: Excessive Speed (IL04, Bit 8)
Torque/Force Limit
 Torque/Force Limit
Set the torque limit. The same value is used in both the forward and reverse directions.
This setting is used when a torque limit is required at a certain time during machine operation.
Example
Register
Address
OL14 Torque/Force Limit
Setting Precautions
The unit that is set in the Torque Unit Selection bits (OW03 bits C to F) is used for this
parameter.
Second Speed Compensation
 Second Speed Compensation
Set the speed feedforward compensation when the INTERPOLATE (Interpolation), LATCH
(Latch), or PHASE (Issue Phase Reference) motion command is executed.
Register
Address
OL16 Second Speed Compensation
Setting Precautions
• The unit that is set in the Speed Unit Selection bits (OW03 bits 0 to 3) is used for this
parameter.
• The setting unit for the OW31 setting parameter (Speed Compensation) is always
0.01%. The unit for this parameter, however, is set in the Speed Unit Selection bits. When this
parameter is used at the same time as OW31, speed compensation is performed
twice.
3-48
SVC
Applications of this parameter include pressing operations to stop movement and holding
workpieces.
Name
Name
Setting
Setting Unit
Range
The unit that
is set in the
31 31 −1
Torque Unit
-2 to 2
Selection bits
is used.
SVC SVR
Setting
Setting Unit
Range
The unit that
is set in the
−1
31 31
Speed Unit
-2 to 2
Selection bits
is used.
Default Control mode
Phase
Position
30,000
Speed
Default Control mode
0
Phase
Position