YASKAWA SGLFW User Manual page 331

9 Operation
9.9.4 Limiting Linear Servomotor Speed during Force Control
(2) Internal Speed Limit Function
Pn480 Speed Limit During Force Control
Sets the linear servomotor speed limit value during force control.
The setting in this parameter is enabled when Pn002 = n.
The servomotor's maximum speed will be used when the setting in this parameter exceeds the maximum speed of the ser-
vomotor used.
(3) External Speed Limit Function
Type Signal
Name
Input V-REF
SG
Inputs an analog voltage reference as the linear servomotor speed limit value during force control.
The smaller value is enabled, the speed limit input from V-REF or the Pn480 (Speed Limit during Force Control) when
Pn002 = n.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.
Pn300 Speed Reference Input Gain
(1.50 to 30.0 V/rated speed)
Sets the voltage level for the speed that is to be externally limited during force control.
With Pn300 = 600 (factory setting) and 6 V input from V-REF (CN1-5, 6), the actual motor speed is limited to the rated
speed of the servomotor used.
The Principle of Speed Limiting
INFO
When the speed is outside of the allowable range, a force that is proportional to the difference between the actual speed
and the speed limit is used as negative feedback to bring the speed back within the speed limit range. Accordingly, there is
a margin generated by the load conditions in the actual motor speed limit value.
(4) Signals Output during Servomotor Speed Limit
Type Signal
Name
Output /VLT
This signal is output when the linear servomotor speed reaches the speed limit value set in Pn480 or set by the analog volt-
age reference.
For use, this output signal must be allocated with parameter Pn50F. For details, refer to 8.3.3 Output Circuit Signal Alloca-
tion.
9-64
Setting Range
0 to 5000
Connector
Pin Number
CN1-5
CN1-6
1 .
Setting Range
150 to 3000
Connector
Pin Number
Must be allocated
CN1-
Setting Unit Factory Setting
1 mm/s
0 .
External Speed Limit Input
Signal Ground
Setting Unit Factory Setting
0.01 V/rated speed
(6.00 V/rated speed)
Setting
ON (low level) Servomotor speed limit being applied.
OFF (high level) Servomotor speed limit not being applied.
Setting Validation
5000 Immediately
Name
Speed Position
Setting Validation
600 Immediately
Meaning
Force
Force