YASKAWA MP2100 Series User Manual page 171

7 Motion Parameters
7.2.2 Motion Setting Parameter Details
(11) Speed Limit at Torque Reference
Set the speed limit for torque references as a percentage of the rated speed.
Torque control is used to control the Servomotor to output the specified torque, so it does not control the motor speed.
Therefore, when an excessive reference torque is set relative to the load torque of the machine, the machine's torque is over-
powered by the torque reference and the motor speed rapidly increases. The Speed Limit at Torque Reference functions to
limit the Servomotor speed during torque control to protect the machine.
Maximum speed
Either the Speed Limit at Torque Reference (OW
tive, whichever is lower.
■ Related Parameters
SGDS, SGDH+NS115, SGDH+NS110
(12) Speed Reference
Set the speed reference.
This parameter is used by the following commands.
1: POSING
2: EX_POSING
3: ZRET
7: FEED
8: STEP
23: VELO
25: PHASE
Refer to Chapter 8 Motion Commands for details.
7-16
Speed Limit at Torque Reference
OW 0E
−32768 to 32767
No speed limit
Speed
The high rate of acceleration
may damage the machine.
0
Pn002.1
Pn407
Pn408.1
Pn300
Speed Reference
OL 10
Positioning
External Positioning
Zero Point Return
JOG operation
STEP operation
Speed Reference
Phase Reference
Setting Range
t
0E) or SERVOPACK's Torque Control Speed Limit (Pn407) is effec-
SGD-N, SGDB-N
Cn-02, bit 2
Cn-14
−
Cn-03
Setting Range
Depends on the Speed
Units set in Function 1
31 31
−2 −1
to 2
(setting parameter
OW
Position Speed
Phase
Setting Unit Default Value
0.01%
Speed limit used
Speed
Maximum
speed
The speed limit
prevents damage.
Limited
speed
0
Speed
Position Phase
Setting Unit Default Value
03, bits 0 to 3).
Torque
15000
t
Torque
3000