Yaskawa Sigma II Series Servo System - Manual (Page 128)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5 - 42
Torque Control Parameter
The following parameter is used for torque control. Set the parameter according to
requirements of the servo system that is used.
This parameter sets the voltage range for torque reference input T-REF (CN1-9)
depending on the output range of the host controller or external circuit.
The default setting is 30, so the rated torque output is equal to 3V (30 × 0.1).
Internal Speed Limit Function
This parameter sets a motor speed limit when torque control is selected. It is used to
prevent excessive equipment speed during torque control.
Since the speed limit detection signal /VLT functions the same in torque control as
the /CLT signal, see 5.1.3 Limiting Torque, where the /CLT signal is described
Parameter Signal
Setting
(0.1V x rated torque)
Control Mode
Pn400 Torque Reference Input Gain
Setting Range: 10 to 100
Default Setting: 30
Speed/Torque Control
Pn002.1 Setting Description
0 Uses speed limit set by Pn407 (internal speed limit function).
1
Uses V-REF (Cn1-5 and -6) as external speed limit input and sets speed
limit by voltage, which are input to V-REF and Pn300 (external speed limit
function).
Parameter Signal
Setting
(rpm)
Control Mode
Pn407 Speed Limit during Torque Control
Setting Range: 0 to 10000
Default Setting: 10000
Speed/Torque Control
Reference
voltage (V)
Reference torque
This reference voltage is set.
Rated torque
Torque
control
range
Torque
Motor speed
Speed limit
Torque Control Range