Chapter 4 Operation
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4.7.4 Limiting Servomotor Speed During Torque Control
During torque control, the servomotor is controlled to output the specified torque, which means that the
servomotor speed is not controlled. Accordingly, when an excessive reference torque is set for the
mechanical load torque, it will prevail over the mechanical load torque and the servomotor speed will
greatly increase.
This function serves to limit the servomotor speed during torque control to protect the machine.
(1)Speed
(1)Speed
(1)Speed
(1)Speed Limit
Limit
Limit
Limit Enable
Enable
Enable
Enable
(2)Speed
(2)Speed
(2)Speed
(2)Speed Limit
Limit
Limit
Limit During
During
During
During Torque
Torque
Torque
Torque Control
Control
Control
Control
(3)External
(3)External
(3)External
(3)External Speed
Speed
Speed
Speed Limit
Limit
Limit
Limit Function
Function
Function
Function
With
With
With
With No
No
No
No Speed
Speed
Speed
Speed Limit
Limit
Limit
Limit
With
With
With
With Speed
Speed
Speed
Speed Limit
Limit
Limit
Limit
Servom otor speed
Servom otor speed
Servom otor speed
Servom otor speed
M ax
M ax
M ax
M ax ....spe e d
spe e d
spe e d
spe e d
t
D anger of dam age due to
D anger of dam age due to
D anger of dam age due to
D anger of dam age due to
excessive of m achine speed
excessive of m achine speed
excessive of m achine speed
excessive of m achine speed
....
Servomotor speed
Servomotor speed
Servomotor speed
Servomotor speed
t
Safe operation with speed limit
Safe operation with speed limit
Safe operation with speed limit
Safe operation with speed limit....
Speed lim it
Speed lim it
Speed lim it
Speed lim it
Parameter
Parameter
Parameter
Parameter
Description
Description
Description
Description
Pn001
b.□□0□
Uses the value set in Pn406 as the speed limit (internal speed limit
function)
b.□□1□
Uses V-REF as an external speed limit input. Applies a speed limit
using the input voltage of V-REF and the setting in Pn300(external
speed limit function).
Pn406
Speed Limit During Torque Control
Setting
Setting
Setting
Setting Range
Range
Range
Range
Setting
Setting
Setting
Setting Unit
Unit
Unit
Unit
Factory
Factory
Factory
Factory Setting
Setting
Setting
Setting
Setting
Setting
Setting
Setting Validation
Validation
Validation
Validation
0
～
6000
rpm
1500
Immediately
Set the servomotor speed limit value during torque control.
The setting in this parameter is enabled when Pn001=b.□□0□.
The servomotor’s maximum speed will be used when the setting in this parameter exceeds the
maximum speed of the servomotor used.
Type
Type
Type
Type
Signal
Signal
Signal
Signal Name
Name
Name
Name
Connector
Connector
Connector
Connector Pin
Pin
Pin
Pin Number
Number
Number
Number
Name
Name
Name
Name
Input
V-REF+
V-REF-
CN1-1
CN1-2
External Speed Limit Input
AGND
CN1-3
Signal Ground
Inputs an analog voltage reference as the servomotor speed limit value during torque control.
The smaller value is enabled, the speed limit input from V-REF or the Pn406 (speed limit during torque
control) when Pn005=H.□□1□.
Torque
