YASKAWA A1000 Technical Manual page 209


Switching Between Torque and Speed Control
A digital input can be used to switch Torque Control and Speed Control (H1- = 71). When switching from Speed
Control to Torque Control, the torque limit becomes the torque reference and the speed reference becomes the speed
limit. This change is reversed when switching back to Speed Control.
If required by the application, a delay time can be set up using parameter d5-06. The reference values (torque reference/
speed limit in Torque Control or speed reference/torque limit in Speed Control) are held during this switch delay time. Be
sure to change the reference values from the controller within this delay time.
Note: 1. The switching delay time d5-06 is not applied when the Stop command is entered. Here the operation switches immediately to speed
control and the drive decelerates to stop at the torque limit.
2. Set d5-01 to 0 when switching between Torque Control and Speed Control. An oPE15 (Torque Control Setting Error) alarm will be
triggered if parameter d5-01 is set to 1 while H1- is set to 71 at the same time.
Figure 5.54
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- = 71 (Speed/Torque Control Switch).
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.
YASKAWA ELECTRIC SIEP C710616 27G YASKAWA AC Drive A1000 Technical Manual
OFF ON
OFF ON
Speed Control Torque Control
Speed Ref. Speed Limit
Torque Limit Torque Reference
d5-06 d5-06
Figure 5.54 Speed/Torque Control Switching Time
Parameter Name
Torque Control Selection
Parameter Name
Torque Reference Delay Time
Parameter Name
Speed Limit Selection
OFF ON
Speed Control Torque Control
Speed Ref. Speed Limit
Torque Limit Torque Reference
d5-06
Setting Range
0 or 1
Setting Range
0 to 1000 ms
Setting Range
1 or 2
5.4 d: Reference Settings
Speed Control
Speed Ref.
Torque Limit
Default
0
Default
Determined by A1-02
Default
1
5
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