YASKAWA SGD7S series User Manual

6.11 Selecting Torque Limits
6.11.3 Limiting Torque with an Analog Reference
6
Application Functions
6-67
6.11.3 Limiting Torque with an Analog Reference
The analog voltage on the T-REF terminals (CN1-9 and CN1-10) is used to limit the torque with
an analog reference.
The smallest of the analog reference torque reference and the torque limits for Pn402
*1
and
Pn403
*2
is used.
*1. Pn483 is used for a Linear Servomotor.
*2. Pn484 is used for a Linear Servomotor.
The block diagrams for limiting the torque during speed control are provided below.
• Rotary Servomotors
• Linear Servomotors
T-REF (Torque Reference Input) Signal
The input signal that is used for torque limits with an analog voltage reference is described
below.
There is no polarity for the input voltage of the analog voltage reference for the torque limit.
The absolute value of a positive or negative voltage is input, and a torque limit that corre-
sponds to that absolute value is applied in the forward and reverse directions.
There is no polarity for the input voltage of the analog voltage reference for the force limit. The
absolute value of a positive or negative voltage is input, and a force limit that corresponds to
the absolute value of the input voltage is applied in the forward and reverse directions.
Typ e Signal Connector Pin No. Name
Input
T-REF CN1-9 Torque reference input
SG CN1-10 Signal ground for torque reference input
Pn300
+
+
+
–
Pn400
T-REF
V-REF
Pn101
Pn415
Pn100
Torque limit
SERVOPACK
Torque Reference Input Gain
Speed Reference
Input Gain
Speed
loop gain
Speed Loop Integral
Time Constant
Speed feedback
Torque
reference
T-REF Filter Time Constant
Speed
reference input
Pn402
Forward Torque
Limit
(Refer to 6.11.1.)
(Refer to 6.7.3.)(Refer to 6.7.1.)
(Refer to 6.5.1.)
Pn403
Reverse Torque Limit
(Refer to 6.11.1.)
Information
Pn300
+
+
+
–
Pn400
T-REF
V-REF
Pn101
Pn415
Pn100
SERVOPACK
Force limit
Speed
reference input
Force reference input gain T-REF Filter Time Constant
Speed Reference
Input Gain
Speed Loop Integral
Time Constant
Speed feedback
Force
reference
Speed
loop gain
Pn484
Reverse Force Limit
(Refer to 6.11.1.)
(Refer to 6.7.1.)
(Refer to 6.7.3.)
(Refer to 6.5.1.)
Pn483
Forward Force Limit
(Refer to 6.11.1.)
Information

YASKAWA SGD7S series Specifications

General

Series	SGD7S
Safety	STO (Safe Torque Off)
Humidity	90% RH or less (non-condensing)
Control Method	PWM Control
Communication	EtherCAT, MECHATROLINK-III, MECHATROLINK-II
Output Power	0.1 kW to 15 kW
Feedback System	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Overheating, Encoder Error
Ambient Temperature	0 to 55°C
Storage Temperature	-20 to 85°C
Vibration Resistance	5.9 m/s²
Installation	Panel mounted
Certifications	CE, UL, cUL