Yaskawa MP920 User's Manual Design - Manual (Page 127)

4.2 Control Modes
4-13
4
„ Details
Use the following procedure to perform operations in the torque reference output mode.
1. Set the motion fixed parameters according to the user’s machine.
Table 4.2 shows the related parameters when the torque reference output mode is used.
* 1. Valid only with an SVB-01 Module.
* 2. Valid only with an SVA-02A Module.
2. Set the motion parameters.
3. Select the Torque Reference Output Mode (TCON) (bit 1 of OW††00).
Table 4.2 Examples of Fixed Parameters
No. Name Setting Range Meaning Setting Example
7 Rated Motor Speed
Setting 1 to 32000 Rated motor speed 3000 r/min
8 Number of Feedback
Pulses per Motor Rotation 4 to 65532 Number of pulses
before multiplica-
tion 2048 pulses/rev
9 D/A Output Voltage at
100% Speed 0.001 to 10.000 1 = 1 V 6.000 V
Feedback Pulses per
Motor Rotation (for High-
resolution)
*1
4 to 2147483647 1 = 1 pulse/rev 2048 pulses/rev
10 D/A Output Voltage at
100% Torque Limit *2
0.001 to 10.000 0.001 = 0.001 V
1 = 1 V 3.000 V
Table 4.3 Examples of Setting Parameters
Name Register No. Meaning Setting Example
Torque Reference
Setting (TREF) OW††1B Sets the torque reference
value at 0.01%. 5000
(50.00%)
Speed Limit Setting
(NLIM) OW††1C Sets the speed limit
value at 0.01%. 5000
(50.00%)
0
1. Set the motion fixed parameters.
2. Set the motion setting parameters.
3. Set the torque reference output mode (TCON).
4. Set the RUN command (RUN) to ON.
RUN
TCON
5. Set the torque reference output mode to OFF.
Torque speed
Torque reference
Output the torque reference and speed limit reference.
(%)
: System execution
: User settings
Time (t)