YASKAWA SGDV SERVOPACK User Manual

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5.8 Limiting Force
5-67
5
Operation
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
This function can be used to combine force limiting by an external input and by analog voltage reference.
When /P-CL (or /N-CL) is ON, either the force limit by an
alog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the force limit, whichever is smaller.
The following chart shows the external force li
miting using an analog voltage reference.
Note: This function cannot be used during force control since the force limit by analog voltage reference is input from T-
REF (CN1-9, 10).
Parameter Meaning When Enabled Classification
Pn002 n.3
When /P-CL or /N-CL is enabled, the T-REF terminal
is used
as the external force limit input.
After restart Setup
Pn300
+
+
+
-
T-REF
V-REF
/N-CL
/P-CL
Pn101
Pn100
Pn400
T-REF filter time constant
Pn415
Force limit
value
Speed
reference
Pn404
(/P-CL: ON)
Pn483
Pn405
Reverse external force limit
(/N-CL: ON)
Pn484
Speed
loop
gain
Speed feedback
Force
reference
SERVOPACK
Force reference input gain
Forward
force
limit
Forward
external
force limit
Reverse force limit
Speed
reference input
gain
Speed loop
integral time
constant
(See 5.5.1.)
(See 6.9.2.)
(See 5.3.1.)
(See 5.8.1.)
(See 5.8.1.)
(See 5.8.1.)
(See 5.8.1.)
47

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