Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface - Manual (Page 148)

4 Operation
4.6.7 Positioning Near Output Signal (/NEAR)
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4.6.7 Positioning Near Output Signal (/NEAR)
Before confirming that the positioning completed signal has been received, the host controller first receives a
positioning near signal and can prepare the operating sequence after positioning has been completed. The time
required for this sequence after positioning can be shortened.
This signal is generally used in combination with the positioning completed output signal.
Note: Use parameter Pn510.0 to allocate the /NEAR signal for use. Refer to 3.4.2 Output Signal Allocations for details.
The positioning near signal (/NEAR) is output when the difference between the number of references output
by the host controller and the travel distance of the servomotor (position error) is less than the set value.
Note: Normally, the value of Pn524 should be larger than that for the positioning completed width (Pn522).
4.6.8 Speed Limit Detection Signal (/VLT)
This function limits the speed of the servomotor to protect the machine.
A servomotor in torque control is controlled to output the specified torque, but the motor speed is not con-
trolled. Therefore, if an excessive reference torque is set for the load torque on the machinery side, the speed
of the servomotor may increase greatly. If that may occur, use this function to limit the speed.
Note: The actual limit value of motor speed depends on the load conditions of the servomotor.
Refer to the following parameters for speed limit.
Type
Signal
Name
Connector
Pin Number
Setting Meaning
Output /NEAR Must be allocated
ON (closed)
The servomotor has reached a point near to
positioning completed.
OFF (open)
The servomotor has not reached a point near
to positioning completed.
Pn524
NEAR Signal Width
Classification
Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 reference unit 1073741824 Immediately Setup
Position
Motor speed Reference
Motor speed
Time
Time
Time
Effective at ON (close).
Effective at ON (close).
Time
Position error
/NEAR
/COIN
Pn524 Pn522
0
With No Speed Limit With Speed Limit
Motor speed
Time
Maximum speed
Danger of damage due to
critical speed.
Motor speed
Limiting speed
Safe operation with
speed limit.
Time