Yaskawa SGDH Linear Sigma Series - Manual (Page 315)

9.11 Limiting Force
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9.11.3 Force Limiting Using an Analog Voltage Reference
Force limiting by analog voltage reference limits force by assigning a force limit in an analog voltage to the T-
REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during force
control.
Refer to the following block diagram when the force limit with an analog voltage reference is used for speed con-
trol.
There is no polarity in the input voltage of the analog voltage reference for force limiting. The absolute values of both +
and - voltages are input, and a force limit value corresponding to that absolute value is applied in the forward or reverse
direction.
(1) Related Parameters
(2) Input Signals
Pn300
+
+ +
-
Pn400
T-REF
V-REF
Forward force
limit value (Pn483)
Speed loop
gain
(Pn100)
Speed feedback
Force limit
value
Speed
reference Force
reference
Reverse force
limit value (Pn484)
Speed loop
integral
time
constant
(Pn101)
SERVOPACK
INFO
Parameter Meaning
Pn002 n.†††1 Speed control option: Uses the T-REF terminal to be used as an external force limit input.
When n.†††2 is set, the T-REF terminal is used for force feed-forward input, but the functions cannot be used together.
Type Signal
Name
Connector
Pin Number
Name
Input T-REF CN1-9 Force reference input
SG CN1-10 Signal ground for force reference input
The force limit input gain is set at parameter Pn400. Refer to 9.9.1 Setting Parameters.
„ Input Specifications
• Input range: ± 1 VDC to ± 10 VDC/rated force
• Maximum allowable input voltage: ± 12 VDC