6.1 I/O Signal Allocations
6.1.10 Speed Limit during Torque Control
6-12
/NEAR (Near) Signal Setting
You set the condition for outputting the /NEAR (Near) signal (i.e., the near signal width) in
Pn524 (Near Signal Width). The /NEAR signal is output when the difference between the refer-
ence position and the current position (i.e., the position deviation as given by the value of the
deviation counter) is equal to or less than the setting of the near signal width (Pn524).
Note: Normally, set Pn524 to a value that is larger than the setting of Pn522 (Positioning Completed Width).
6.1.10
Speed Limit during Torque Control
You can limit the speed of the Servomotor to protect the machine.
When you use a Servomotor for torque control, the Servomotor is controlled to output the
specified torque, but the motor speed is not controlled. Therefore, if a reference torque is input
that is larger than the machine torque, the speed of the Servomotor may increase greatly. If that
may occur, use this function to limit the speed.
Note: The actual limit of motor speed depends on the load conditions on the Servomotor.
/VLT (Speed Limit Detection) Signal
The signal that is output when the motor speed is being limited by the speed limit is described
in the following table.
Note: You must allocate the /VLT signal to use it. Use Pn50F = n.
X
(/VLT (Speed Limit Detection) Signal Allo-
cation) to allocate the signal to a connector pin. Refer to the following section for details.
6.1.2 Output Signal Allocations
Pn524
(2524
hex)
Near Signal Width
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
1 to 1,073,741,824
1 reference unit
1,073,741,824
Immediately
Setup
Position
Pn524
Pn522
0
Reference
Motor speed
Time
Time
Time
Time
/COIN signal
/NEAR signal
Position
deviation
Speed
(Active when ON (closed).)
(Active when ON (closed).)
With No Speed Limit
With a Speed Limit
Type
Signal
Connector Pin No.
Signal Status
Meaning
Output
/VLT
Must be allocated.
ON (closed)
The Servomotor speed is being limited.
OFF (open)
The Servomotor speed is not being lim-
ited.
Speed
Maximum speed
Danger of damage due
to hazardous speed.
Time
Speed
Safe operation
with speed limit.
Time
Speed limit
