Yaskawa JAPMC-MC2300 - Manual (Page 103)

5.4 MP2000 Series Machine Controller Parameter Details
5.4.2 Motion Setting Parameter Details
5-31
5
Motion Parameters
( 9 ) Torque Reference
OL 0C
Torque/Thrust Reference Setting
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
Set the torque reference for torque reference command (TRQ).
Refer to 7.2.10 Torque Reference (TRQ) on page 7-77 for details.
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 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.
OW 0F
Torque Reference 1st-order Lag Filter
Setting Range Setting Unit Default Value
0 to 32767 ms 0
Description
The primary lag filter can apply to the torque reference and torque limit.
The torque reference primary lag filter set value can be cleared to 0 (zero) at the following timings.
When the command in execution is switched from a motion command to TRQ command.
When the command in execution is switched from TRQ command to another command.
Position Phase
Speed Torque
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 SGDH, SGDM, SGDS, and SGDV SERVOPACKs:
Pn002.1
Pn407
Pn408.1
Pn300
For SGDA and SGDB SERVOACKs:
Cn-02, bit 2
Cn-14
-
Cn-03
Position Phase
Speed Torque