Torque Control; Basic Settings For Torque Control - YASKAWA SGD7S Product Manual

6.7

Torque Control

Torque control is performed by inputting a torque reference with an analog voltage reference to
the SERVOPACK to control the Servomotor with a torque that is proportional to the input volt-
age.
Torque control is set by setting Pn000 = n.X (Control Method Selection) to 2 (Torque con-
trol).
Parameter

Pn000 n.
6.7.1

Basic Settings for Torque Control

This section describes the torque reference input signal and torque reference input gain.
T-REF (Torque Reference Input) Signal
The T-REF signal is described in the following table.
Type
Input
Maximum input voltage: ±12 VDC
Input Circuit Example
Example
Pn400 (Torque Reference Input Gain) is set to 3 (setting unit: V) by default.
If you will use a host controller, such as a programmable controller, for torque control, con-
nect the above output pins to the analog reference output terminals on the host controller .
Always use twisted-pair cables to control noise.
Setting the Torque Reference Input Gain (Pn400)
The torque of the Servomotor is controlled in proportion to an analog voltage reference.
The reference voltage for the rated motor torque is set in Pn400 (Torque Reference Input Gain)
to define the relationship between the analog voltage reference and the motor output torque.
Torque Reference Input Gain
Setting Range
Pn400

2

Torque control

Signal Connector Pin No.
T-REF CN1-9
SG CN1-10
Torque Reference Rotation
Input Direction
+3 V Forward
+1 V Forward
–1.5 V Reverse
SERVOPACK
Host controller
CN1
T-REF
9
D/A
Approx. 14 k
SG
10
0 V
Setting Unit
10 to 100 0.1 V

6.7.1 Basic Settings for Torque Control

Meaning
Torque reference input
Signal ground for torque reference input
Torque
Rated torque
1/3 rated torque
1/2 rated torque
Default Setting
30
(rated torque at 3.0 V)
6.7 Torque Control
When Enabled Classification
After restart Setup
Name
Speed Position Torque
When Enabled Classification
Immediately Setup
6
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