Omron R88D-GT series, User Manual

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5-30
5-15 Speed Limit
5
Ope
rati
ng Func
tions
5-15 Speed Limit
Function
• This function limits Servomotor rotation speed when torque control is used.
• Set a limit so that the Servomotor rotation speed does not exceed the maximum speed of the
mechanical system.
• Outside of the speed limit range, a torque in proportion to the difference from the speed limit value
is generated to slow down the Servomotor rotation speed. In such cases the number of
Servomotor rotations does not necessarily match the speed limit value. (The number of
Servomotor rotations varies depending on the load.)
• There are two methods that can be used for limiting the speed:
• Apply a constant fixed speed limit in Torque Control Mode (parameter settings).
The speed is limited using the No. 4 Internally Set Speed (Pn56).
• Limit the speed with an analog voltage.
Use the Speed Command Input (REF) as an Analog Speed Limit Input (VLIM).
Parameters Requiring Settings
Limiting the Speed to a Constant Speed in Torque Control Mode
• The speed will be limited according to the following parameter setting if the Torque Command/
Speed Limit Selection (Pn5B) is set to 0.
Limiting the Speed with Analog Voltage
• The Speed Command Input (REF) will be the Analog Speed Limit Input terminal if the Torque
Command/Speed Limit Selection (Pn5B) is set to 1. Therefore, the speed can be limited on
multiple levels.
The default setting for Pn50 is 300, so the speed will be 3,000 r/min for an input of 10 V.
Parameter No. Parameter name Explanation Reference page
Pn56
No. 4 Internally
Set Speed
Set the speed limit when torque control is used
(setting range:
− 20,000 to 20,000 (r/min.))
5-82
Parameter No. Parameter name Explanation Reference page
Pn50
Speed Command
Scale
Set the relation between the command input voltage and
the rotation speed by using the slope.
5-81
Default slope
−
10
−
6
2 4 6 8 10
Rotation speed (r/min.)
Rated rotation
Speed command
voltage (V)
Rated rotation speed