5.5 Torque Control5-475 Operation5.5.3 Torque Reference FilterThis smooths the torque reference by applying a first order lag filter to the torque reference (T-REF) input.Note: A setting value that is too large, however, will slow down response.Check the response characteristics when setting this parameter.5.5.4 Speed Limit in Torque ControlThis 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 speedof 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.(1) Signals Output during Servomotor Speed LimitThe following signal is output when the motor speed reaches the limit speed.Note: Use parameter Pn50F.1 to allocate the /VLT signal for use. For details, refer to 3.4.2 Output Signal Allocations.(2) Speed Limit SettingSelect the speed limit mode with Pn002.1.Pn415T-REF Filter Time Constant ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 65535 0.01 ms 0 Immediately SetupSpeed Position TorqueWith No Speed Limit With Speed LimitMotor speedTimeMaximum speedDanger of damage due tocritical speed. Motor speedLimiting speedSafe operation withspeed limit.TimeType SignalNameConnectorPin Number Setting MeaningOutput /VLT Must be allocated ON (closed) Servomotor speed limit being applied.OFF (open) Servomotor speed limit not being applied.Parameter Meaning WhenEnabled ClassificationPn002n.0[Factory setting]Uses the value set in Pn407 as the speed limit (internalspeed limit function).After restart Setupn.1Uses V-REF (CN1-5, 6) as an external speed limitinput. Applies a speed limit using the input voltage ofV-REF and the setting in Pn300 (external speed limitfunction).
