Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual
Page 118
4.4 MP2000 Series Machine Controller Parameter Details
4.4.2 Motion Setting Parameter Details
4-42
( 11 ) Speed Reference
( 12 ) Positive Side Limiting Torque/Thrust Setting at the Speed Reference
Setting and Changing Torque Limit during SGDV SERVOPACK Operations
The torque limit can be set or changed during SERVOPACK operations if the following parameter settings have been
made.
• Pn81F.1 = 1 (Position Control Command TFF/TLIM Function Allocation is enabled.)
• Pn002.0 = 1 (PTLIM and NTLIM operate as the torque limit values.)
Or
• Pn81F.1 = 1 (Position Control Command TFF/TLIM Function Allocation is enabled.)
• Pn002.0 = 3 (When P-CL and N-CL are available, PTLIM and NTLIM operate as the torque limit value.)
Specify the torque limit value with the motion setting parameter OL
14.
The torque limit can be set or changed during the execution of one of the following motion commands.
• Positioning (POSING)
• External input positioning (EX_POSING)
• Zero Point Return (ZRET)
• Interpolation (INTERPOLATE)
• Last Interpolation Segment (ENDOF_INTERPOLATE)
• Latch (LATCH)
• JOG operation (FEED)
• STEP operation (STEP)
• Speed control
• Position control
OL
10
Speed Reference Setting
Setting Range
Setting Unit
Default Value
−2
31
to 2
31
−1
Depends on the speed
unit set in Function
Setting 1 (setting param-
eter OW
03, bits 0 to
3).
3000
Description
Set the speed reference.
This parameter is used by the following motion commands. Refer to Chapter 6 Motion Commands for details.
1: POSING
Positioning
2: EX_POSING
External Positioning
3: ZRET
Zero Point Return
7: FEED
JOG operation
8: STEP
STEP operation
23: VELO
Speed Reference
25: PHASE
Phase Reference
The setting unit for this parameter depends on the Speed Unit Selection (OW
03, bits 0 to 3), but
the result of applying the speed unit setting is not shown here.
OL
14
Positive Side Limiting Torque/Thrust
Setting at the Speed Reference
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).
30000
Description
Set the torque limit for the speed reference command. The same value is used for both the forward and reverse
directions.
This parameter is used when a torque limit is required at specific timing during operation of the machine, such as applica-
tions for pushing a load to stop it or holding a workpiece.
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.
The setting is enabled when a speed reference command is executed.
When the SGDV SERVOPACK is used and the SERVOPACK parameters are set, the torque limit is enabled when the
following motion commands are executed:
POSING, EX_POSING, ZRET, INTERPOLATE, LATCH, FEED, STEP and PHASE
R
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque