D5: Torque Control - YASKAWA U1000 Technical Manual

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d5: Torque Control

Torque Control defines a setpoint for the motor torque and is available for CLV and CLV/PM (A1-02 = 3, 7).
n Torque Control Operation
Torque control can be enabled either by setting parameter d5-01 to 1 or by setting digital input (H1-oo = 71).
illustrates the working principle.
Torque Compensation
External Torque Reference
External Speed Limit
Speed Limit set in d5-04
Speed Feedback
Speed Limit Bias d5-05
The externally input torque reference is the target value for the motor output torque. If the motor torque reference and the load
torque are not in balance when in Torque Control, the motor accelerates or decelerates. To prevent operation beyond the speed
limit, compensate the external torque reference value if the motor speed reaches the limit. The compensation value is calculated
using the speed limit, speed feedback, and the speed limit bias.
If an external torque compensation value is input, it is added to the speed limit compensated torque reference value. The value
calculated is limited by the L7-oo settings, and is then used as the internal torque reference, which can be monitored in
U1-09. The L7-oo settings have highest priority. The motor cannot be operated with a higher torque than the L7-oo settings
even if the external torque reference value is increased.
n Setting the Torque Reference, Speed Limit, and Torque Compensation Values
Torque Control Reference Sources
Set input values for Torque Control as explained in
Input Value Signal Source
Analog inputs A1/A2/
A3
Torque Reference
Analog Option
MEMOBUS Register
0004H
Torque Reference
Communications Option
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
d5-02
Torque Reference Delay
C1-oo , C2-oo
Soft
d5-03
Starter
1
2
Figure 5.50 Torque Control Block Diagram
Table
Table 5.19 Torque Control Input Value Selection
H3-02, H3-10, or H3-06 = 13
• F2-01 = 0
• H3-02, H3-10, or H3-06 = 13
• b1-01 = 2
• Set Register 000FH, Bit 2 = 1 to
enable Torque reference from
register 0004H
• b1-01 = 3
• F6-06 = 1
Refer to the option card manual for
details about setting the torque
compensation value.
d5-08
Speed Limiter
Compensated torque
reference
5.19.
Settings
Match the input terminal signal level settings to
the signal being used.
<1>
Function Analog Inputs on page 298
on adjusting analog input signals.
The F3-oo settings become effective for the
option board input terminals. Match the input
terminal signal level settings to the signal being
used.
<1>
Inputs on page 298
analog input signals.
5.4 d: Reference Settings
U1-09
L7-oo
+
Torque Internal Torque
Limits Reference
+
Remarks
Refer to H3: Multi-
Refer to H3: Multi-Function Analog
for details on adjusting
–
–
Figure 5.50
5
for details
245