YASKAWA MP2000 Series User Manual

4.4 MP2000 Series Machine Controller Parameter Details
4.4.2 Motion Setting Parameter Details
4-42
( 11 ) Speed Reference
( 12 ) Positive Side Limiting Torque/Thrust Setting at the Speed Reference
 Setting and Changing Torque Limit during SGDV or SGD7S SERVOPACK Operations
The torque limit can be set or changed during SERVOPACK operations if the following parameter settings have been
made.
• Pn81F.1 = 1 (Position Control Command TFF/TLIM Function Allocation is enabled.)
• Pn002.0 = 1 (PTLIM and NTLIM operate as the torque limit values.)
Or
• Pn81F.1 = 1 (Position Control Command TFF/TLIM Function Allocation is enabled.)
• Pn002.0 = 3 (When P-CL and N-CL are available, PTLIM and NTLIM operate as the torque limit value.)
Specify the torque limit value with the motion setting parameter OL14.
The torque limit can be set or changed during the execution of one of the following motion commands.
• Positioning (POSING)
• External input positioning (EX_POSING)
• Zero Point Return (ZRET)
• Interpolation (INTERPOLATE)
• Last Interpolation Segment (ENDOF_INTERPOLATE)
• Latch (LATCH)
• JOG operation (FEED)
• STEP operation (STEP)
• Speed control
• Position control
OL10
Speed Reference Setting
Setting Range Setting Unit Default Value
−2
31
to 2
31
−1
Depends on the speed
unit set in Function
Setting 1 (setting param-
eter OW03, bits 0 to
3).
3000
Description
Set the speed reference.
This parameter is used by the following motion commands. Refer to Chapter 6 Motion Commands for details.
1: POSING Positioning
2: EX_POSING External Positioning
3: ZRET Zero Point Return
7: FEED JOG operation
8: STEP STEP operation
23: VELO Speed Reference
25: PHASE Phase Reference
 The setting unit for this parameter depends on the Speed Unit Selection (OW03, bits 0 to 3), but
the result of applying the speed unit setting is not shown here.
OL14
Positive Side Limiting Torque/Thrust
Setting at the Speed Reference
Setting Range Setting Unit Default Value
−2
31
to 2
31
−1
Depends on the torque unit
set in Function Setting 1
(setting parameter
OW03, bits C to F).
30000
Description
Set the torque limit for the speed reference command. The same value is used for both the forward and reverse
directions.
This parameter is used when a torque limit is required at specific timing during operation of the machine, such as applica-
tions for pushing a load to stop it or holding a workpiece.
 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.
 The setting is enabled when a speed reference command is executed.
 When the SGDV or SGD7S SERVOPACK is used and the SERVOPACK parameters are set, the
torque limit is enabled when the following motion commands are executed:
POSING, EX_POSING, ZRET, INTERPOLATE, LATCH, FEED, STEP and PHASE
R
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English