Limiting Servomotor Speed During Torque Control - YASKAWA SGDH User Manual

8 Operation

8.7.4 Limiting Servomotor Speed during Torque Control

Use the following procedure to manually adjust the torque reference offset.
Step Display after
Operation
1
2
3
4
5
6
7
8
8.7.4 Limiting Servomotor Speed during Torque Control
During torque control, the servomotor is controlled to output the specified torque, which means that the servomo-
tor speed is not controlled. Accordingly, when an excessive reference torque is set for the mechanical load
torque, it will prevail over the mechanical load torque and the servomotor speed will greatly increase.
This function serves to limit the servomotor speed during torque control to protect the machine.
Motor speed
Maximum speed
(1) Speed Limit Mode Selection (Torque Limit Option)
Parameter
Pn002
Digital
Operator Operator
DSPL
SET
MODE/SET
(DSPL/SET Key)
(MODE/SET Key)
DATA
ENTER
DATA/
(DATA/SHIFT Key)
(DATA/ENTER K ey)
(Press at least 1 s.)
Servo ON
(DATA/SHIFT Key)
(Less than 1 s.)
(DATA/SHIFT Key)
(Less than 1 s.)
DATA
ENTER
(DATA/SHIFT Key)
(DATA/ENTER K ey)
(Press at least 1 s.)
With No Speed Limit
Danger of damage due to
excessive machine speed.
n. 0
Uses the value set in Pn407 as the speed limit (internal speed limit function).
n. 1
Uses V-REF (CN1-5, 6) as an external speed limit input. Applies a speed limit using the input
voltage of V-REF and the setting in Pn300 (external speed limit function).
Panel
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key
to select parameter Fn00B.
*The digit that can be set will blink.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. The display will be as shown at the left.
The manual adjustment mode for the torque reference offset will
be entered.
Turn ON the servo ON (/S-ON) signal. The display will be as
shown at the left.
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to display the torque reference offset amount.
DATA/
Press the UP or DOWN Key to adjust the amount of offset.
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to return to the display shown on the left.
DATA/
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn00B display of the utility
DATA/
function mode.
Motor speed
Speed limit
Description
8-64
Description
With Speed Limit
Safe operation with
speed limit.