Yaskawa SGDB - Manual (Page 100)

APPLICATIONS OF Σ-SERIES PRODUCTS
3.2.7 Using Torque Control
88
J Selecting Torque Control
Use the following parameter to select level 3 or level 4 torque control.
Cn-2B
Control Mode Selection Factory
Setting: 0
For Speed/Torque Control
and position Control
This is dedicated torque control.
A motor torque reference value is externally input into the SERVOPACK to control
torque.
Examples of Use: Tension control
Pressure control
Cn-2B Control Mode
2
Torque Control
This is a dedicated torque control mode.
• A torque reference is input from T-REF
(1CN-9).
• /P-CON is not used.
• Speed reference input V-REF (1CN-5) can
be used as speed limit when bit 2 of Cn-02
Torque
reference
SERVOPACK
Speed limit
2
be used as speed limit when bit 2 of Cn-02
is set to 1.
• Parameter Cn-14 can be used for maximum
speed control.
Example of Use:
Tension control
Tension
SGDB
SERVO-
PACK
9
Torque Control $ Speed Control (Analog
Reference)
Torque control and speed control can be
switched.
• A speed reference or speed limit value is
input from V-REF (1CN-5).
• T-REF (1CN-9) inputs a torque reference,
torque feed-forward reference or torque limit
value depending on the control mode used.
• /P-CON (1CN-41) is used to switch between
torque control and speed control.
Speed
reference
Torque
reference
Switching
between
speed
and
torque
reference
1CN-5
1CN-9
1CN-11
SERVOPACK
/P-CON
When 1CN-41 is
open
Torque
control
When 1CN-41 is
at 0 V
Speed
control
3