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CHAPTER 4 PARAMETER
4
PA4_21
Torque control speed limit selection
No.
Torque control speed limit
21
selection
Select the parameter for speed limiting when performing torque control.
Select 1 (older model compatibility) if it is necessary to make speed limiting responses compatible with
older models when performing torque control.
4-116
Extension Function 2 Setting Parameters
When performing position command operation with the VS type, or pulse train
operation with the LS type, ensure that commands from the host device do not exceed
the speed limit.
Operation should normally be performed with command values which ensure a speed
of PA1_25: Max. rotation speed (for position and speed control) or less.
If activating the servo amplifier SLS function in combination with the function safety
module (WSU-ST1), process commands in such a way that the speed is PA4_12:
Function safety SLS speed limit value or less even at the host device side when the
SLS function becomes active.
If the servo amplifier SLS function alone is activated, a deviation over alarm will
occur, and the motor may not move as commanded when the SLS function is
canceled as described below.
The motor will move as follows if the speed limit is exceeded.
(5)
A position deviation will occur if a command exceeding the speed limit value is
issued, and will continue to build up while the command is applied to speed
limiting.
(6)
If the position deviation builds to the PA2_69: Deviation detection overflow
value, a deviation over alarm will occur.
(7)
If the command is reduced to a value smaller than the speed limit value before
the deviation over alarm occurs, the motor will continue to rotate at the speed
limit value until the built up position deviation is offset, and subsequent
operation will be based on the command.
(8)
If the speed limit value increases before the deviation over alarm occurs (when
SLS canceled), the motor will accelerate to the speed limit value.
If the speed limit value becomes greater than the command value, the
operation will be as described in item (3).
If the speed limit value remains smaller than the command value, the operation
will be as described in items (1) and (2).
Name
0: PI control
1: Older model compatibility (PA1_96)
Setting range
(PA1_56, PA1_57, PA1_65, PA1_66)
Default
Change
value
Power
0
supply
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