YASKAWA SGDV SERVOPACK User Manual

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5 Operation
5.5.1 Basic Settings for Force Control
5-50
5.5 Force Control
This section describes operation with force control.
Input the force reference using analog voltage reference and control the servomotor operation with the force in
propo
rtion to the input voltage.
Select the force control with parameter Pn000.1.
5.5.1 Basic Settings for Force Control
This section describes the basic settings for force control.
(1) Signal Setting
Set the following input signals.
Maximum input voltage: 12 VD
C
 Input Circuit Example
Example
Pn400 = 0003.0 : Motor rated force at 3.0 V [Factory setting]
Note: The value is 30, but it will be displayed on the operator as 0003.0.
Connect the pins for the T-REF signal and SG to the analog reference output terminal on the host controller
when using a host controller, such as a programmable controller, for force control.
Note: Always use twisted-pair cables to control noise.
Parameter Meaning When Enabled Classification
Pn000
n.

2

Force control After restart Setup
Type Signal Name
Connector
Pin Number
Name
Input
T-REF CN1-9 Force reference input
SG CN1-10 Signal ground for force reference input
Speed Reference Input Movement Direction Force
+3 V Forward Rated force
+1 V Forward 1/3 rated force
–1.5 V Reverse 1/2 rated force
SG
CN1
10
T-REF
9
D/A
0 V
SERVOPACK
Host
controller
Approx.
14 kΩ
Analog

YASKAWA SGDV SERVOPACK Specifications

General

Model	SGDV
Type	SERVOPACK
Control Modes	Position, Speed, Torque
Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Protection Rating	IP20
Operating Temperature	0°C to 55°C
Vibration Resistance	5.9 m/s² (0.6G) at 10-60Hz
Shock Resistance	49 m/s² (5G)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Regenerative overload, Encoder error