Yaskawa Large Capacity Sigma II Series - Manual (Page 121)

4.2 Settings According to Host Controller
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4
„ Using the Torque Feed-forward Function
To use the torque feed-forward function, set the following parameter to 2.
This setting enables the torque feed-forward function.
The torque feed-forward function cannot be used with torque limiting by analog voltage ref-
erence described in 4.2.10 Torque Limiting by Analog Voltage Reference, Function 1.
„ Setting
Torque feed-forward is set using parameter Pn400.
The factory setting at Pn400 is 30. If, for example, the torque feed-forward value is ±3 V,
then torque is limited to ±100% of the rated torque.
Pn002.0 Speed Control Option
(T-REF Terminal Allocation) Factory
Setting:
0
Speed Control,
Position Control
Pn002.0 Setting Description
0 None.
1 T-REF terminal used for external torque limit input.
2 T-REF terminal used for torque feed-forward input.
Pn400 Torque Refer-
ence Input
Gain Unit:
0.1 V/rated
torque
Setting
Range:
10 to 100
Factory
Setting:
30
Speed/Torque
Control,
Position Control