2 CONTROL MODE
2.3 Control mode [A]
99
2
Torque limit
The maximum torque is always limited by the values of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation
torque limit] during operation.
A relation between limit value and servo motor torque is the same as in the description of the position control mode.
Note that TLA (Analog torque limit) is unavailable.
Page 94 Torque limit
Speed limit
■Speed limit value and speed
The speed is limited to the values set with [Pr. PC05 Internal speed 1] to [Pr. PC11 Internal speed 7] or the value set in the
applied voltage of VLA (Analog speed limit). The relation between the applied voltage in VLA (Analog speed limit) and the
servo motor speed is shown below.
When the servo motor speed reaches the speed limit value, torque control may become unstable. Make the set value more
than 100 r/min greater than the desired speed limit value.
In the initial setting, the rated speed is set to the speed limit value at ±10 V. The speed limit value at ±10 V can be changed
with [Pr. PC12 Analog speed command - Maximum speed].
The following table indicates the limit direction according to the combination of RS1 (Forward rotation selection) and RS2
(Reverse rotation selection).
*1 0: Off
1: On
*2 For linear servo motors, CCW is the positive direction and CW is the negative direction.
Input device
*1
TC (Analog torque
command)
Speed limit direction
*2
RS1 RS2 VLA (Analog speed limit) Internal speed limit
Voltage
polarity
Torque
command
direction
Polarity: + Polarity: -
1 0 Polarity: + CCW CCW CCW CCW
Polarity: - CW CW CW CW
0 1 Polarity: + CW CW CW CW
Polarity: - CCW CCW CCW CCW
0 +10/-10
Servo
motor
speed
[r/min]
Rated speed [r/min]
VLA applied voltage [V]
Forward rotation (CCW)
Forward rotation (CCW)
Reverse rotation (CW)
Reverse rotation (CW)
(Speed limit value)
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