Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Modul Manual de usuario descargar pdf (Pagina 117)

4.4 MP2000 Series Machine Controller Parameter Details

4.4.2 Motion Setting Parameter Details

4-41

Motion Parameters

( 10 ) Torque Reference

OL0C

Torque/Thrust Reference Setting

/Torque Feed Forward Compensation

Setting Range Setting Unit Default Value

−2

to 2

−1

Depends on the torque unit set

in Function Setting 1 (setting

parameter OW03, bits C to

F).

Description

The meaning will depend on the command.

• Set the torque reference for torque reference commands.

Refer to 6.2.23 Torque /Thrust Reference (TRQ) for details.

• Set the torque feed forward gain* for interpolation commands.

* Torque Feed Forward Gain Function

Torque feed forward gain can be used when interpolation commands (INTERPOLATE, LATCH) are sent

using SGDS SERVOPACKs.

• SERVOPACK parameter Pn002.0 = 2

• SGDS communication interface version 8 or later

 The setting unit for this parameter depends on the Torque Unit Selection (OW03, bits C to F), but the result

of applying the torque unit setting is not shown here.

OW0E

Speed Limit Setting at the Torque/

Thrust Reference

Setting Range Setting Unit Default Value

−32768 to 32767 0.01% 15000

Description

Set the speed limit for torque/thrust references as a percentage of the rated speed.

Torque control is used to control the Servomotor to output the specified torque, so it does not control the motor speed.

Therefore, when an excessive reference torque is set relative to the load torque of the machine, the machine’s torque is

overpowered by the torque reference and the motor speed rapidly increases.

The torque reference speed limit functions to limit the Servomotor speed during torque control to protect the machine.

 The setting is enabled when a torque reference command is executed.

Phase

Speed

Torque

Position

Phase

Speed

Torque

Speed

The high rate of acceleration

may damage the machine.

Maximum

speed

Speed

Limited

speed

The speed limit prevents damage.

Maximum

speed

 Related Parameters

For SGDS, SGDH+NS115, SGDH+NS110 SERVOPACKs:

Pn002.1

For SGD-N, SGDB-N SERVOPACKs:

Cn-02, bit 2

Cn-14

1 2 ... 112 113 114 115 116 117 118 119 120 121 122 ... 139 140

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Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Modul Manual de usuario Pagina 117

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