YASKAWA MP2100 Series - Page 171

7 Motion Parameters
7.2.2 Motion Setting Parameter Details
7-16
(11) Speed Limit at Torque Reference
(12) Speed Reference
OW

0E
Speed Limit at Torque Reference
Setting Range Setting Unit Default Value
−
32768 to 32767
0.01%
15000
Set the speed limit for torque references as a percentage of the rated speed.
Torque control is used to control the Servomotor to output the specified torque, so it does not control the motor speed.
Therefore, when an excessive reference torque is set relative to the load torque of the machine, the machine’s torque is over-
powered by the torque reference and the motor speed rapidly increases. The Speed Limit at Torque Reference functions to
limit the Servomotor speed during torque control to protect the machine.
Either the Speed Limit at Torque Reference (OW

0E) or SERVOPACK’s Torque Control Speed Limit (Pn407) is effec-
tive, whichever is lower.
■
Related Parameters
OL

10
Speed Reference
Setting Range Setting Unit Default Value
−
2
31
to 2
31
−
1
Depends on the Speed
Units set in Function 1
(setting parameter
OW

03, bits 0 to 3).
3000
Set the speed reference.
This parameter is used by the following commands.
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
Refer to Chapter 8 Motion Commands for details.
Position
Phase
Speed
Torque
0
t
Speed
Maximum speed
The high rate of acceleration
may damage the machine.
0
t
Speed
Maximum
speed
Limited
speed
The speed limit
prevents damage.
No speed limit Speed limit used
SGDS, SGDH+NS115, SGDH+NS110 SGD-N, SGDB-N
Pn002.1 Cn-02, bit 2
Pn407 Cn-14
Pn408.1 −
Pn300 Cn-03
Position
Phase
Speed
Torque