Yaskawa MP940 - Manual (Page 287)

6.4 Parameters for SGDH SERVOPACK
6-47
6
Pn000
Function
Selection
Basic
Switches
(Contd.) 1 Control
Method
Selection
(0 to B) SGDH SERVOPACKs can use a total of 12 different control
methods, including speed control, position control, torque con-
trol, etc. When combining with an MP940, however, make sure
to set the control method to 9: Torque control (analog refer-
ence)
Speed control (analog reference).
The above references and switching are performed automati-
cally by the MP940 using the 2-port RAM.
Torque control: When C-SEL is OFF
• The INTRF reference controls torque.
• INVRF can be used to limit the servomotor speed when
Pn002.1 is set to 1.
The INVRF voltage (+) limits servomotor speed during for-
ward and reverse rotation.
Parameter Pn407 can be used for maximum speed control.
Speed control: When C-SEL is ON
• The INVRF reference controls torque.
• INTRF can be used to limit servomotor speed when Pn002.1
is set to 1.
9 Speed
Torque
Position
2 Axis Address Cannot be used with MP940. Do not touch. 0
3 Not used.
Parameter No. Digit
Name
(Setting
Range)
Details Default
Control
Modes
⇔
INVRF
INTRF
C-SEL
Speed reference
SERVOPACK
Torque reference
Speed and
torque refer-
ence switching
INVRF
INTRF
C-SEL=0
Speed reference
Torque reference
SERVOPACK
INVRF
INTRF
C-SEL=1
Speed reference
Torque reference
SERVOPACK