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(i) Method
of Giving External Current
Limit
(3) Current
Limit when
Motor is locked
Reference
When lockinga motor by applying a current limit,
The
forward
current
(current
from
motor
terminal
determine
the current
limit value
less than
the
@
to (_)) and reverse
current
can be controlled
rated
current
of the motor.
If the load condition
independently.
The
forward
current
can be con-
requii-es a current
limit exceeding
the rated
motor
trolled by giving a reverse
voltage
(0 to -9 V) to
current,
refer to Par. I.2."SERVOPACK
OVERLOAD
Servopack
terminal
(_ ; the reverse
current
by
CHARACTERISTIC",
and make
sure to unlock
the
a forward
voltage
(0 to 9 V)
to terminal
(_ . The
motor
before reaching
the overload_level.
power
supply
must
use
an internal
resistance
less
than
2 kfl.
The
input
resistance
at Servopack
Note
that when
the speed
reference
voltage
is
side must be greater
than 5 kfl.
When
external
less than tens or so millivolts (affected
by
setting
current
is not restricted,
terminals
@
and
@
of gain of 4VR
and 6VR),
the motor
lock current
are opened,
sometimes pulsates. Ifthis isnot desirable, the
current
pulsation
can be removed
by increasing
the
(2) Set Voltage
and Current
Limit Values
speed reference
voltage.
For
motor
locked
more
than
one minute,
consult
The
relationship
between
set voltages
of 0 to _+9 V
your
Yaskawa
representatives.
and
current
limit values
are shown
in Fig.
3. ii.
• Current
Limit
at Forward
• Current
Limit
at
Side
Reverse Side
3.3.2
Proportional
Drive Reference
Circuit
(Complete
Stop
Reference
Circuit)
CPCR-MR07C
CPCR-MR07C
CPCR-MR02C \
CPCR-MR05C
f _/2__
If a position loop is not set for positioning, and
I \
aria
CPCR-MR02C l\
30A
CPCR-MR05C
30
CPCR-MR02cj_CPCR'MR01C_Y_/_2OA
C
-30
_
after
completion
of positioning,
has
been
left
for
25
25 CPC_M_CjI X
quite
a long
time,
the
positioned
point
may
have
CURRENT
URRENT
LIMIT 20
CPCR- /_ _
LIMIT 20
\/k
20A moved
due to preamplifier drift.This can be avoided
VALUE
MR01C_.,/.k'_/._._A
by shortcircuiting
terminals
(_ and
_)
immediately
VALUE..0tC Z A
CPC.
V--
(A)
15
A
(A)
15
_j,;__A
after the positioning(Fig. 3.12). This switches
10
-10
the speed amplifier from PI drive to P drive and
5
-5 _
the loop gain in the controlsystem drops and the
_ i _ i
i J i i
r i i i i i i i
i
-I
-5
-9
O
5
9
drift
decreases.
The
P drive
reference
circuit
can
SETVOLTAGE ( V)
SETVOLTAGE ( V)
be controlled
also by non-contact
signal
(0 V common,
open
collector
operation).
See Fig.
3.13.
(a)
Types CPCR-MR01C
to -MR07C
In this case,
pay
attention
to the
voltage
and
• Curt_ent Limit at Forward
• Current Limit at
eurrnet of the drive element.
P drive reference
Side
Reverse Side
ON/OFF
timing is shown
in Fig. 3.14.
]
CPCR-MR99C
100A
/
CPCR-MR99C
100A
'°°I
v =
'00r
v-
I;
C CR.,,5c
goC CRM.,5C
i°°
g°F cPc.-\/
- r
CpCR-
\/
OR,VE
80_-
MR55C
/_
75A
-80 _-
MR55C
/_
75A
1 SERVOPACK
G=
A'432ARelay:
Low-leVelmade
byrelaYoMRoNtype
CPCRc'k_
60A
--70_
CPOR- _,/_'_
3_sOR
L__L_(SGOV)
Corporati .....
quivalent.
70
M R22
CURRENT
CURRENT
MR22C
CPCR-
u
60 A
LIMIT
60_-
.....
X//_
_
LIMIT
-60 F
CPOR- -//_
VALUE
/
.......
,/
X
_,z
VALUE
/
MR15C /
Y
V
_-CPCR-
/_/\/
(A)
-50_-CPCR.
X /\/
Note:
When
P drive reference
is input, if the speed
(A)
50 MR0
40 t
8_A
_40t
MR08_A
reference
voltage is not 0V, the motor rotates.
30_-
//.,/_
._
25A
._30_-
//_/
_"
25A
Fig.
3.12
Proportional
(P)
Drive
Reference
Circuit
10_
--10_
1.5TO7
--1.5TO-7
0 -1
-5
-9
0
1
5
9
SET VOLTAGE (V)
SET VOLTAGE (V)
Note:
TypesCPCR-MR55C-H
and-MR75C-H
have
been designed in 55A limit.
(b)
Types
CPCR-MR08C
to -MR99C
Fig.
3.11
Set Voltage--Current
Limit
Characteristics
27
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