YASKAWA SGD7S

6.7 Torque Control
6.7.4 Speed Limit during Torque Control
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Application Functions
 Internal Speed Limiting
If you select internal speed limiting for the torque control option (Pn002 = n.0), set the
speed limit for the motor in Pn407 (Speed Limit during Torque Control) or Pn480 (Speed Limit
during Force Control).
Also set Pn408 = n.X (Speed Limit Selection) to specify using the maximum motor speed
or the overspeed alarm detection speed as the speed limit. Select the overspeed alarm detec-
tion speed to limit the speed to the equivalent of the maximum motor speed.
Note: If you are using a Rotary Servomotor, set Pn407 (Speed Limit during Torque Control). If you are using a Linear
Servomotor, set Pn480 (Speed Limit during Force Control).
• Rotary Servomotors
• Linear Servomotors
Note: If the parameter setting exceeds the maximum speed of the Servomotor, the Servomotor’s maximum speed
or the overspeed alarm detection speed will be used.
 External Speed Limiting
If you select external speed limiting for the torque control option (Pn002 = n.1), set the V-
REF (Speed Reference Input) signal and the speed reference input gain (Pn300).
During torque control, the motor speed limit is controlled by the analog voltage reference.
Parameter Meaning When Enabled Classification
Pn408
n.0
(default setting)
Use the smaller of the maximum motor speed
and the setting of Pn407 or Pn480 as the
speed limit.
After restart Setup
n.1
Use the smaller of the overspeed alarm detec-
tion speed and the setting of Pn407 or Pn480
as the speed limit.
Pn407
Speed Limit during Torque Control
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000
1 min
-1
10000 Immediately Setup
Pn480
Speed Limit during Force Control
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000 1 mm/s 10000 Immediately Setup
Typ e Signal Connector Pin No. Name
Input
V-REF CN1-5 External speed limit input
SG CN1-6 Signal ground for external speed limit input
1. If you set Pn002 to n.1, the smaller of the speed limit input with the V-REF signal
and the value of Pn407 or Pn480 is used.
2. The setting of Pn300 determines the voltage level to be input as the speed limit. The polar-
ity has no effect.
3. If you set Pn300 to 6.00 (default setting) and 6 V is input to the V-REF (CN1-5 and CN1-6)
signal, the speed is limited to the rated speed of the Servomotor.
Pn300
Speed Reference Input Gain
Setting Range Setting Unit Default Setting When Enabled
Classifica-
tion
150 to 3,000 0.01 V 600 Immediately Setup
Torque
Force
Information
Speed
Position
Torque