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5 Operation
5.5.3 Force Reference Filter
5-54
5.5.3 Force Reference Filter
This smooths the force reference by applying a first order lag filter to the force reference (T-REF) input.
Note: A setting value that is too large, however, will slow down response.
Check the response characteristics when setting this parameter.
5.5.4 Speed Limit in Force Control
This function limits the speed of the servomotor to protect the machine.
A servomotor in force control is controlled to output the
specified force, but the motor speed is not controlled.
Therefore, if an excessive reference force is set for the load force on the machinery side, the speed of the ser-
vomotor may increase greatly. If that may occur, use this function to limit the speed.
Note: The actual limit value of motor speed depends on the load conditions of the servomotor.
Refer to the following parameters for speed limit.
(1) Signals Output during Servomotor Speed Limit
The following signal is output when the motor speed reaches the limit speed.
Note: Use parameter Pn50F.1 to allocate the /VLT signal for use. For details, refer to 3.3.2 Output Signal Allocations.
(2) Speed Limit Setting
Select the speed limit mode with Pn002.1.
Pn415
T-REF Filter Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 0 Immediately Setup
Position
With No Speed Limit With Speed Limit
Motor speed
Time
Maximum speed
Danger of damage due to
critical speed.
Motor speed
Limiting speed
Safe operation with
speed limit.
Time
Type
Signal
Name
Connector
Pin Number
Setting Meaning
Output /VLT Must be allocated
ON (closed) Servomotor speed limit being
applied.
OFF (open) Servomotor speed limit not being
applied.
Parameter Meaning
When
Enabled
Classification
Pn002
n.
0
[Factory setting]
Uses the value set in Pn480 as the speed limit (in
ternal
speed limit function).
After restart Setup
n.
1
Uses V-REF (CN1-5, 6) as an external speed limit
input. App
lies a speed limit using the input voltage of
V-REF and the setting in Pn300 (external speed limit
function).
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