4-59
fc (Hz) = 1 / (2
Π
Τ
)
:
Τ
= Filter time constant (s), fc: cut-off frequency.
Set the cut-off frequency to below the mechanical resonance frequency.
•
Also make this setting if the Servomotor rotation speed is fluctuating in Torque Control Mode due to
TREF voltage noise. (Set the value as low as possible to minimize the effects of noise. If the setting is
too high, responsiveness will be lowered.)
Pn402
Forward torque limit (All operation modes)
Setting
range
0 to 800
Unit
%
Default
setting
350
Restart
power?
No
Pn403
Reverse torque control (All operation modes)
Setting
range
0 to 800
Unit
%
Default
setting
350
Restart
power?
No
•
Set Pn402 (forward torque limit) and Pn403 (reverse torque limit) using the ratio (%) of the Servomo-
tor rated torque for each.
Note
These following torque limit functions are available: Analog torque limit (Pn002.0 = 1 or 3), Pn402
(forward torque limit), Pn403 (reverse torque limit), Pn404 (forward rotation external current lim-
it), and Pn405 (reverse rotation external current limit). The output torque is limited by the smallest
of the enabled limit values. Refer to
4-5-10 Torque Limit Function
for details.
Pn404
Forward rotation external current limit (All operation modes)
Setting
range
0 to 800
Unit
%
Default
setting
100
Restart
power?
No
Pn405
Reverse rotation external current limit (All operation modes)
Setting
range
0 to 800
Unit
%
Default
setting
100
Restart
power?
No
•
Set in Pn404 the torque limit for when PCL (forward current limit input) is input, and set in Pn405 the
torque limit for when NCL (reverse current limit input) is input, using the ratio (%) of the Servomotor
rated torque for each.
Note
The following torque limit functions are available: Analog torque limit (Pn002.0 = 1 or 3), Pn402
(forward torque limit), Pn403 (reverse torque limit), Pn404 (forward rotation external current lim-
it), and Pn405 (reverse rotation external current limit). The output torque is limited by the smallest
of the enabled limit values. Refer to
4-5-10 Torque Limit Function
for details.
Pn406
Emergency stop torque (Position, control, and internally-set speed control)
Setting
range
0 to 800
Unit
%
Default
setting
350
Restart
power?
No
•
Set the deceleration torque if overtravel occurs using the ratio (%) of the Servomotor rated torque.
Note
This parameter is enabled when Pn001.1 (select stop if drive prohibited is input) is set to 1 (i.e.,
stop using Pn406).
Pn407
Speed limit (Torque)
Setting
range
0 to 10000
Unit
r/min.
Default
setting
3000
Restart
power?
No
•
Set the speed limit for Torque Control Mode.
Note
The following speed limit functions are available: Analog speed limit (when Pn002.1 = 1), and
Pn407 (speed limit). The speed limit is set to whichever is the smaller. Refer to 4-5-10
Torque
Limit Function
for details.
Operation
Chapter 4
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