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Chapter 12 Expansion Control
Speed limit value setting method
Acceleration/deceleration is 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 exceeds speed limit value is commanded, a
warning "Speed limit value over" (warning code: 501) will occur, and the operation
is controlled with speed limit value.
Confirm the command speed to servo amplifier with "
Md.122 Speed during
command".
0
t
1000
1000 0
V
t
Torque
30.0%
Position control mode or
Speed control mode
0 300 0
0
0
Continuous operation
to torque control mode
Position control mode or
Speed control mode
Pr.8
Speed limit value
Pr.8
Speed limit value
Cd.147 Speed limit value at
continuous operation to
torque control mode
Cd.150 Target torque at
continuous operation to
torque control mode
Pr.17
Torque limit
setting value
Pr.17
Torque limit
setting value
Cd.149 Deceleration time at
continuous operation
to torque control mode
Contact with
target
Precautions at continuous operation to torque control mode
The following servo amplifier functions cannot be used during continuous
operation to torque control mode.
Base cut delay time function
Forced stop deceleration function
Vertical axis freefall prevention function
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