6.1 I/O Signal Allocations
6.1.10 Speed Limit during Torque Control
6-13
6
Application Functions
Selecting the Speed Limit
You set the speed limit to use in Pn002 = n.
X
(Torque Control Option). If you set Pn.002
to n.
1
(Use V-REF as an external speed limit input), the smaller of the external speed limit
and the internal speed limit will be used.
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).
Internal Speed Limiting
If you select internal speed limiting for the torque control option (Pn002 = n.
X
), 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 detection 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.
Parameter
Meaning
When Enabled
Classification
Pn002
(2002
hex)
n.
0
(default setting)
Ignore the setting of the speed limit for the
VLIM (Limit Speed for Torque Control) com-
mand and use the speed limit set in Pn407 or
Pn480. (Use internal speed limiting.)
After restart
Setup
n.
1
Use the speed limit from the VLIM (Limit
Speed for Torque Control) command as the
speed limit. (Use external speed limiting.)
Parameter
Meaning
When Enabled
Classification
Pn408
(2408
hex)
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
(2407
hex)
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
(2480
hex)
Speed Limit during Force Control
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 10,000
1 mm/s
10000
Immediately
Setup
Torque
Force
