Yaskawa Large Capacity Sigma II Series - Manual (Page 123)

4.2 Settings According to Host Controller
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4.2.10 Torque Limiting by Analog Voltage Reference, Function 1
Torque limiting by analog voltage reference limits torque by assigning a torque limit in an
analog voltage to the T-REF terminal (CN1-9 and 10). It cannot be used for torque control
because the torque reference input terminal T-REF is used as an input terminal.
„ Using Torque Limiting by Analog Voltage Reference
To use this function, set the following parameter to 1.
This parameter can be used to enable torque limiting by analog voltage reference.
Torque limiting cannot be set separately for forward and reverse rotation.
This function cannot be used with the torque feed-forward function described in 4.2.8
Torque Feed-forward Function.
„ Setting
The torque limit input gain is set at parameter Pn400.
The factory setting at Pn400 is 30. If, for example, the torque limit is ±3 V, then torque is
limited to 100% of the rated torque. (A torque value higher than 100% torque is clamped at
100%.)
Pn300
Integration
(Pn101)
Speed loop
gain
(Pn100)
+
+
+
-
Speed feedback
Pn400 Torque limit value
Speed reference
T-REF
V-REF
Torque
reference
Pn403
Torquelimit
Pn404
(/P-CL:ON)
Pn402
Pn405
(/N-CL:ON)
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