Yaskawa SGDH Linear Sigma Series - Manual (Page 307)

9.9 Operating Using Force Control
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9
Use the following procedure to manually adjust the force reference offset.
9.9.4 Limiting Linear Servomotor Speed during Force Control
During force control, the linear servomotor is controlled to output the specified force, which means that the linear
servomotor speed is not controlled. Accordingly, when an excessive reference force is set for the mechanical load
force, it will prevail over the mechanical load force and the linear servomotor speed will greatly increase.
This function serves to limit the linear servomotor speed during force control to protect the machine.
(1) Speed Limit Mode Selection (Force Limit Option)
Step Display after
Operation
Digital
Operator
Panel
Operator
Description
1 Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
2 Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key
to select parameter Fn00B.
*The digit that can be set will blink.
3 Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. The display will be as shown at the left.
The manual adjustment mode for the force reference offset will be
entered.
4
Servo ON
Turn ON the servo ON (/S-ON) signal. The display will be as
shown at the left.
5 Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to display the force reference offset amount.
6 Press the UP or DOWN Key to adjust the amount of offset.
7 Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to return to the display shown on the left.
8 Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn00B display of the utility
function mode.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
With No Speed Limit With Speed Limit
Parameter Description
Pn002 n. †† 0 † Uses the value set in Pn480 as the speed limit (internal speed limit function).
n. †† 1 † Uses V-REF (CN1-5, 6) 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).
Motor speed
Maximum speed
Danger of damage due to
excessive machine speed.
Motor speed
Speed limit
Safe operation with
speed limit.