Yaskawa DR2 Sigma Servo - Manual (Page 107)

APPLICATIONS OF Σ-SERIES PRODUCTS
3.2.7 Using Torque Control cont.
94
→ Input T-REF 1CN-9
Torque Reference Input For Speed/Torque
Control Only
→ Input SG-T 1CN-10
Signal Ground for Torque
Reference Input
For Speed/Torque
Control Only
These signals are used when torque control is se-
lected (bits A and B of memory switch Cn-01).
Motor torque is controlled so that it is proportional
to the input voltage between T-REF and SG-T.
Standard Setting
Cn-13 = 30:
This setting means that 3 V is
equivalent to rated torque.
Examples: +3 V input → Rated torque in forward direction
+9 V input → 300% of rated torque in forward direction
−0.3 V input → 10% of rated torque in reverse direction
User constant Cn-13 can be used to change the voltage input range.
Example of Input Circuit:
See the figure on the right.
• For noise control, always use twisted-
pair cables.
• Example of Variable Resistor for Speed Setting:
Type 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.
→ Input V-REF 1CN-5
Speed Reference Input (or
Speed Limit Input)
For Speed/Torque
Control Only
→ Input SG-V 1CN-6 Signal Ground for Speed
Reference Input
For Speed/Torque
Control Only
These signals are used when speed control is se-
lected (bits A and B of memory switch Cn-01).
For normal speed control, always connect these
signal terminals.
Motor speed is controlled so that it is proportional
to the input voltage between V-REF and SG-V.
Standard Setting
Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3000 r/min).
Examples: +6 V input → 3000 r/min in forward direction
+1 V input → 500 r/min in forward direction
−3 V input → 1500 r/min in reverse direction
3
Reference
torque
(%)
Standard
setting
Input voltage
(V)
Set the
slope in
Cn-13
(TCRFGN).
300
200
100
-100
-200
-300
Servopack
Reference
speed (r/min)
Standard
setting
Input voltage
(V)
Set the slope
in Cn-03
(VREFGN).
4500
3000
1500
-1500
-3000
-4500