10 ) torque reference – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual
Page 117
4.4 MP2000 Series Machine Controller Parameter Details
4.4.2 Motion Setting Parameter Details
4-41
Motion Parameters
( 10 ) Torque Reference
OL
0C
Torque/Thrust Reference Setting
/Torque Feed Forward Compensation
Setting Range
Setting Unit
Default Value
−2
31
to 2
31
−1
Depends on the torque unit set
in Function Setting 1 (setting
parameter OW
03, bits C to
F).
0
Description
The meaning will depend on the command.
• Set the torque reference for torque reference commands.
Refer to 6.2.23 Torque /Thrust Reference (TRQ) for details.
• Set the torque feed forward gain* for interpolation commands.
* Torque Feed Forward Gain Function
Torque feed forward gain can be used when interpolation commands (INTERPOLATE, LATCH) are sent
using SGDS SERVOPACKs.
<Conditions of Use>
• SERVOPACK parameter Pn002.0 = 2
• SGDS communication interface version 8 or later
The setting unit for this parameter depends on the Torque Unit Selection (OW
03, bits C to F), but the result
of applying the torque unit setting is not shown here.
OW
0E
Speed Limit Setting at the Torque/
Thrust Reference
Setting Range
Setting Unit
Default Value
−32768 to 32767
0.01%
15000
Description
Set the speed limit for torque/thrust references as a percentage of the rated speed.
Torque control is used to control the Servomotor to output the specified torque, so it does not control the motor speed.
Therefore, when an excessive reference torque is set relative to the load torque of the machine, the machine’s torque is
overpowered by the torque reference and the motor speed rapidly increases.
The torque reference speed limit functions to limit the Servomotor speed during torque control to protect the machine.
The setting is enabled when a torque reference command is executed.
<No speed limit> <Speed limit used>
R
Phase
Speed
Torque
Position
Position
Phase
Speed
Torque
0
t
Speed
The high rate of acceleration
may damage the machine.
Maximum
speed
0
t
Speed
Limited
speed
The speed limit prevents damage.
Maximum
speed
Related Parameters
For SGDS, SGDH+NS115, SGDH+NS110 SERVOPACKs:
Pn002.1
For SGD-N, SGDB-N SERVOPACKs:
Cn-02, bit 2
Cn-14