Yaskawa Large Capacity Sigma II Series - Manual (Page 115)

4.2 Settings According to Host Controller
4-39
4
„ Torque Control Selection
Set in the following parameters to select level 3 or 4 torque control.
A torque reference is input from the host controller to the SERVOPACK in order to control
torque.
Application Examples
• Tension control
• Pressure control
Pn000.1 Control Mode Selection Factory
Setting:
0
Speed/Torque
Control,
Position Control
Pn000.1 Control Mode
2 Torque Control
This is a dedicated Torque Control Mode.
• A torque reference is input from T-REF (CN1-9).
• Speed reference input V-REF (CN1-5) can be used for speed
control if Pn002.1 is set to 1.
• Parameter Pn407 can be used for maximum speed control.
9 Torque Control ↔ Speed Control (Analog Reference)
Switches between torque and speed control.
• V-REF (CN1-5) inputs a speed reference or speed limit.
• T-REF (CN1-9) inputs a torque reference, torque feed-forward
reference or torque limit depending on the control mode.
• /P-CON (/C-SEL) (CN1-41) is used to switch between torque
and speed control.
CN1-41 is open. Torque control
CN1-41 is 0 V. Speed control
Torque Control: When /P-CON (/C-SEL) is OFF
• The T-REF reference controls toque.
• V-REF can be used to limit servomotor speed when Pn002.1 is
set to 1. V-REF voltage (+) limit servomotor speed during for-
ward and reverse rotation.
• Parameter Pn407 can be used to limit the maximum servomo-
tor speed.
Torque
reference
Speed
limit
T-REF
V-REF
SERVOPACK
CN1-9
CN1-5
SERVOPACK
Tension
Servomotor
Tension control
A ppl i cati on Ex am pl e
SERVOPACK
CN1-5
CN1-9
CN1-41
V-REF
T-REF
/P-CON
(/C-SEL)
Speed and
torque
reference
switching
Torque
reference
Speed
reference