Operating Using Force Control; Setting Parameters; Force Reference Input - YASKAWA SGLFW User Manual

9 Operation

9.9.1 Setting Parameters

9.9 Operating Using Force Control

9.9.1 Setting Parameters

The following parameters must be set for force control operation with analog voltage reference.
Parameter
Pn000 n.
Pn400 Force Reference Input Gain
(1.0 to 10.0 V/Rated force)
This sets the analog voltage level for the force reference (T-REF) that is
necessary to operate the linear servomotor at the rated force.
EXAMPLE
Pn400 = 30: The linear servomotor operates at the rated force with 3-V
input (factory setting).
Pn400 = 100: The linear servomotor operates at the rated force with 10-V
input.
Pn400 = 20: The linear servomotor operates at the rated force with 2-V input.

9.9.2 Force Reference Input

By applying a force reference determined by the analog voltage reference to the SERVOPACK, the linear servo-
motor force can be controlled in proportion with the input voltage.
Type Signal
Name
Input T-REF
SG
Used during force control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The force reference gain is set in Pn400. For setting details, refer to 9.9.1 Setting Parameters.
Input Specifications
±
• Input range:
• Max. allowable input voltage:
• Factory setting
Pn400 = 30: Rated force at 3 V
+3-V input: Rated force in forward direction
+9-V input: 300% rated force in forward direction
-0.3-V input: 10% rated force in reverse direction
The voltage input range can be changed with parameter Pn400.
Input Circuit Example
Use twisted-pair wires as a countermeasure against noise.
Variable resistor example: Model 25HP-10B manufactured by Sakae
Tsushin Kogyo Co., Ltd.
9-60
2 Control mode selection: Force control (analog voltage reference)
Setting Range
10 to 100
Connector
Pin Number
CN1-9
CN1-10
±
10 VDC/rated force
1 to
±
12 VDC
Meaning
Setting Unit Factory Setting
0.1V/rated force
(3.0 V/Rated force)
Rated force

Force Reference Input

Signal Ground for Force Reference Input
Factory setting
+12 V
Position
Speed
Setting Validation
30 Immediately
Reference force
Reference voltage (V)
This reference voltage is set.
Name
300
Reference force (%)
200
100
- 12 - 8 - 4
0 3 4
- 100
- 200
- 300
470 Ω
1/2 W min.
T-REF
2 kΩ
SG
Force
8 12
Input voltage (V)
Set the slope
with Pn400.
SERVOPACK
CN1
9
10