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7 EXPANSION CONTROL
7.1 Speed-torque Control
■Speed limit value setting method
Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing.
Set acceleration/deceleration time toward "[Pr.8] Speed limit value" in "[Cd.148] Acceleration time at continuous operation to
torque control mode" and "[Cd.149] Deceleration time at continuous operation to torque control mode". The value at
continuous operation to torque control mode switching is valid for "[Cd.148]" and "[Cd.149]".
"[Cd.147] Speed limit value at continuous operation to torque control mode" is limited with "[Pr.8] Speed limit value". If the
speed exceeding the speed limit value is commanded, 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".
■Precautions at continuous operation to torque control mode
The following functions of the servo amplifier are not available during the continuous operation to torque control mode.
• Base circuit shut-off delay time function
• Forced stop deceleration function
• Vertical axis freefall prevention function
• Driver communication function
0
t
1000
1000 0
[Pr.8] Speed limit value
Contact with target
V
[Pr.8] Speed limit value
t
[Pr.17] Torque limit setting value
Torque
30.0%
[Pr.17] Torque limit setting value
0 300 0
0
0
Position control mode or
Speed control mode
Continuous operation to torque
control mode
Position control mode or
Speed control mode
[Cd.149] Deceleration time at
continuous operation to
torque control mode
[Cd.147] Speed limit value at
continuous operation
to torque control mode
[Cd.150] Target torque at
continuous operation
to torque control mode
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