Yaskawa SGDH Linear Sigma Series - Manual (Page 304)

9 Operation
9.9.1 Setting Parameters
9-60
9.9 Operating Using Force Control
9.9.1 Setting Parameters
The following parameters must be set for force control operation with analog voltage reference.
9.9.2 Force Reference Input
By applying a force reference determined by the analog voltage reference to the SERVOPACK, the linear servo-
motor force can be controlled in proportion with the input voltage.
Parameter Meaning
Pn000 n. †† 2 † Control mode selection: Force control (analog voltage reference)
Pn400 Force Reference Input Gain
Setting Range Setting Unit Factory Setting Setting Validation
10 to 100
(1.0 to 10.0 V/Rated force)
0.1V/rated force 30
(3.0 V/Rated force)
Immediately
This sets the analog voltage level for the force reference (T-REF) that is
necessary to operate the linear servomotor at the rated force.
„ EXAMPLE
Pn400 = 30: The linear servomotor operates at the rated force with 3-V
input (factory setting).
Pn400 = 100: The linear servomotor operates at the rated force with 10-V
input.
Pn400 = 20: The linear servomotor operates at the rated force with 2-V input.
Speed Position Force
Reference voltage (V)
Reference force
This reference voltage is set.
Rated force
Type Signal
Name
Connector
Pin Number
Name
Input T-REF CN1-9 Force Reference Input
SG CN1-10 Signal Ground for Force Reference Input
Used during force control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The force reference gain is set in Pn400. For setting details, refer to 9.9.1 Setting Parameters.
„ Input Specifications
• Input range: ± 1 to ± 10 VDC/rated force
• Max. allowable input voltage: ± 12 VDC
• Factory setting
Pn400 = 30: Rated force at 3 V
+3-V input: Rated force in forward direction
+9-V input: 300% rated force in forward direction
-0.3-V input: 10% rated force in reverse direction
The voltage input range can be changed with parameter Pn400.
„ Input Circuit Example
Use twisted-pair wires as a countermeasure against noise.
Reference force (%)
Input voltage (V)
Set the slope
with Pn400.
Factory setting
300
200
100
- 300
- 200
- 100
0 3 4 8 12
- 4 - 8 - 12
SG
T-REF
+12 V
9
10
470 Ω
2 k Ω
SERVOPACK
1/2 W min.
CN1