Panasonic MINAS A6 Series, Technical Reference

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Basic Functions
4-18
4.4.1 Speed limit function
The speed limit is one of protective functions used during torque control.
This function regulates the motor speed so that it does not exceed the speed limit while the torque is
controlled.

While the speed limit is used to control the motor, the torque command applied to the
motor is not directly proportional to the torque command from host controller.The torque
command applied to the motor becomes the torque that the speed-controlled so that the
motor speed becomes the speed limit value.

If the motor runs in the direction opposite to the one specified by the torque command
given by the host controller due to disturbance including gravity, the speed will not be
within the limit.If this matters, set the speed at which the motor needs to be stopped in
Pr5.13 (over-speed level setting) or Pr6.15 (2nd over-speed protection level setting), so that
Err26.0 (over-speed protection) or Err26.1 (2nd over-speed protection) is caused to happen
in order to stop the motor.For details on over-speed protection, refer to the section "6.3.5
Emergency stop upon occurrence of alarm".

Relevant parameters
Class No. Attribute Title Range Unit Function
3 17 B Speed limit select 2 - Set up the selection method of the speed limit used for torque
control mode.
Setting value Speed limit value
2 6080h (Max motor speed)
With this driver module, it becomes 2 fixation.