Yaskawa Large Capacity Sigma II Series - Manual (Page 119)

4.2 Settings According to Host Controller
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4
„ Parameters
The following parameter is used for torque control. Set the parameter according to the servo
system used.
The parameter sets the voltage range for torque reference input T-REF (CN1-9). Set the
range according to host computer and the output state of external circuit.
The factory setting is 30, so the rated torque output is 3 V (30 × 0.1).
Two speed limit functions during torque control are available by the parameter setting as
shown below.
Internal Speed Limit Function
The parameter sets a motor speed limit when torque control is selected.
It is used to prevent excessive equipment speed during torque control.
Since the speed limit detection signal /VLT functions the same in torque control as the /CLT
signal, see 4.1.3 Limiting Torques, where the /CLT signal is described.
The maximum speed of the servomotor will be used if Pn407 is set to a value higher than the
maximum speed of the servomotor.
Pn400 Torque Refer-
ence Input Gain Unit:
0.1 V/rated torque
Setting
Range:
10 to 100
Factory
Setting:
30
Speed/Torque
Control
Pn200.1 Setting Description
0 Uses speed limit set by Pn407. (internal speed limit function)
1 Uses V-REF (CN1-5 and 6) as external speed limit input and sets speed
limit by voltage which input to V-REF and Pn300. (external speed limit
function)
Pn407 Speed Limit during
Torque Control Unit:
min -1
Setting
Range:
0 to 10000
Factory
Setting:
10000
Speed/Torque
Control
Reference
voltage (V)
Reference torque
This reference voltage is set.
Rated torque
Motor speed
T To orrq qu ue e C Co on nttrro oll R Ra an ng ge e
Speed limit
Torque
Torque
control
range