7 EXPANSION CONTROL
7.1 Speed-torque Control
207
7
Speed control mode
■Operation for speed control mode
The speed control is executed at the speed set in "[Cd.140] Command speed at speed control mode" in the speed control
mode.
Set a positive value for forward rotation and a negative value for reverse rotation. "[Cd.140]" can be changed any time during
the speed control mode.
Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing. Set acceleration/
deceleration time toward "[Pr.8] Speed limit value" in "[Cd.141] Acceleration time at speed control mode" and "[Cd.142]
Deceleration time at speed control mode". The value at speed control mode switching request is valid for "[Cd.141]" and
"[Cd.142]".
The command speed during the speed control mode is limited with "[Pr.8] Speed limit value". If the speed exceeding the
speed limit value is set, the warning "Speed limit value over" (warning code: 0991H) occurs, and the operation is controlled
with the speed limit value.
Confirm the command speed to servo amplifier with "[Md.122] Speed during command".
■Current feed value during speed control mode
"[Md.20] Current feed value", "[Md.21] Machine feed value" and "[Md.101] Real current value" are updated even in the speed
control mode.
If the current feed value exceeds the software stroke limit, the error "Software stroke limit +" (error code: 1993H) or "Software
stroke limit -" (error code: 1995H) occurs and the operation switches to the position control mode. Invalidate the software
stroke limit to execute one-way feed.
0
t
V
0
[Pr.8] Speed limit value
20000 30000
-10000 -20000
0
0
[Pr.8] Speed limit value
30000
20000
-10000
-20000
The command speed to servo amplifier is stored
in "[Md.122] Speed during command".
Deceleration time
[Cd.141]
at speed control
mode
Acceleration time
[Cd.142]
at speed control
mode
[Cd.141]
at speed control mode
Acceleration time Deceleration time
[Cd.142]
at speed control mode
[Cd.140] Command speed at speed
control mode
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