Yaskawa SGDB - Manual (Page 102)

APPLICATIONS OF Σ-SERIES PRODUCTS
3.2.7 Using Torque Control
90
Cn-2B Control Mode
Position Control $ Torque Control
This mode allows switching between position control and torque control.
• /P-CON (1CN-41) is used to switch the control mode between position
control and torque control.
88
When 1CN-41 is
open
Position
control
When 1CN-41 is
at 0 V
Torque
control
Speed Control (Contact Reference) $ Torque Control
This mode allows switching between speed control (contact
reference) and torque control.
• /P-CL (1CN-45) and /N-CL (1CN-46) are used to switch the control mode
between speed control (contact reference) and torque control.
6 1CN-45 1CN-46 6
Open Open
Torque
control
Open Closed Speed
l
Closed Closed
p
control
(contact
Closed Open
(contact
reference)
J Input Signals
The following input signals perform torque control.
Torque reference input
(Analog voltage input)
Speed limit input
(Analog voltage input)
SGDB SERVOPACK
Torque
reference
Speed
reference
↕P: Represents twisted-pair cables
1CN-9
1CN-10
1CN-5
1CN-6
→ Input T-REF 1CN-9
Torque Reference Input For Speed/Torque
Control Only
→ Input SG 1CN-10 Signal Ground for Torque
Reference Input
For Speed/Torque
Control Only
These signals are used when torque control is se-
lected.
Motor torque is controlled so that it is proportional
to the input voltage between T-REF and SG.
Standard Setting
Cn-13 = 30: This setting means that 3 V is equiva-
lent to rated torque.
3
Reference
torque
(%)
Standard
setting
Input voltage
(V)
Set the
slope in
Cn-13
(TCRFGN).