YASKAWA A1000 Series Technical Manual page 191

2. Set d5-01 to 0 when switching between Torque Control and Speed Control. An oPE15 alarm will be triggered if parameter d5-01 is
set to 1 while H1-
Figure 5.51
Speed/Torque control
input (H1- = 71)
Run command
Operation Mode
Frequency refernce
signal or d5-04
Torque reference signal/
Torque limit
■ d5-01: Torque Control Selection
No.
d5-01
Setting 0: Disabled
Speed Control will be active. Also use this setting when H1-
Setting 1: Enabled
Torque Control is always enabled.
■ d5-02: Torque Reference Delay Time
A filter with the time constant set in parameter d5-02 can be applied to the torque reference signal in order to eliminate
oscillation that results from an unstable torque reference signal. A higher filter time will stabilize control, but also reduce
the responsiveness.
No.
d5-02
■ d5-03: Speed Limit Selection
Parameter d5-03 determines how the speed limit is set.
No.
d5-03
Setting 1: Frequency Reference Input
The frequency reference value at the active reference source (digital operator, External reference 1 or External reference
2) will be used as speed limit. Note that in this case all settings for accel/decel times (C1-01 to C1-08) and S-curves (C2-
01 to C2-04) will apply for the speed limit.
Setting 2: Parameter d5-04
The speed limit is set by parameter d5-04.
■ d5-04: Speed Limit
Sets the speed limit during torque control if parameter d5-03 is set to 2. Refer to
on page 190.
No.
d5-04
YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual
is set to 71 at the same time.
OFF ON
OFF ON
Speed Control Torque Control
Speed Ref. Speed Limit
Torque Limit Torque Reference
d5-06 d5-06
Figure 5.51 Speed/Torque Control Switching Time
Parameter Name
Torque Control Selection
Parameter Name
Torque Reference Delay Time
Parameter Name
Speed Limit Selection
Parameter Name
Speed Limit
OFF ON
Speed Control Torque Control
Speed Ref. Speed Limit
Torque Limit Torque Reference
d5-06
Setting Range
0 or 1
= 71 (Speed/Torque Control Switch).
Setting Range
0 to 1000 ms
Setting Range
1 or 2
Speed Limitation and Speed Limit Bias
Setting Range
-120 to 120%
5.4 d: Reference Settings
Speed Control
Speed Ref.
Torque Limit
common_TMonly
Default
0
Default
0 ms
Default
1
Default
0%
5
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