YASKAWA SGLFW, User Manual

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9 Operation
9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
9-72
9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
This function can be used to combine force limiting by an external input signal and by analog voltage reference.
Because the force limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be
used during force control. Use /P-CL (CN1-45) or /N-CL (CN1-46) for force limiting by external input signal.
When /P-CL (or /N-CL) is ON, either the force limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the force limit, whichever is smaller.
(1) Related Parameters
* The setting unit is a percentage of rated force (i.e., the rated force is 100%).
Force limit
value
Speed
reference
Pn300
+
+ +
-
Pn400
T-REF
V-REF
Pn404
( /P-CL:ON )
Forward torque
limit value (Pn483)
Pn405
( /N-CL : ON)
(Pn100)
Speed loop
integral
time
constant
(Pn101)
Speed loop
gain
Speed feedback
Force
reference
Reverse torque
limit value (
Pn484)
/N-CL
/P-CL
SERVOPACK
Parameter Meaning
Pn002 n.
†††
3
Speed control option: When /P-CL or /N-CL is enabled, the T-REF terminal is used as the
external torque limit input.
When n. ††† 2 is set, T-REF is used for force feed-forward input, but the functions cannot be used together.
Pn404 Forward External Force Limit
Setting Range Setting Unit Factory Setting Setting Validation
0 to 800 % 100 Immediately
Pn405 Reverse External Force Limit
Setting Range Setting Unit Factory Setting Setting Validation
0 to 800 % 100 Immediately
Speed
Position
Force