YASKAWA CIMR-F7A Instruction Manual page 331

compensation value is output. In this way, the output from the speed limiter is used to maintain the motor
speed between 0 and the speed limit. When the sum of the torque reference and the torque compensation out-
put by the speed limiter is the same as the actual load, the motor will stop accelerating and run at a constant
speed.
Configuration
Normal Rotation
Direction
Torque Reference
Polarity (TREF)
Speed Limit Polar-
ity (SLIM)
Generated Torque
Torque Reference Adjustment
Consider the following information when adjusting the torque.
Torque Reference Delay Time: d5-02
The time constant of the primary filter in the torque reference section can be adjusted. This constant is used to
eliminate noise in the torque reference signal and adjust the responsiveness to the host controller. Increase the
setting if oscillation occurs during torque control.
Setting the Torque Compensation
Set multi-function analog input A2 or A3 to torque compensation (setting 14). When the amount of torque loss
for mechanical loss or other factor at the load is input to one of these terminals, it is added to the torque refer-
ence to compensate for the loss. The direction of torque will be as follows:
Positive voltage (current): Torque compensation reference for forward motor rotation (counterclockwise as
•
viewed from the motor output axis).
Negative voltage: Torque compensation reference for reverse motor rotation (clockwise as viewed from
•
the motor output axis).
Since the polarity of the voltage input determines the direction, only forward torque compensation can be
input when the 0 to 10 V or 4 to 20 mA signal level has been selected. If you want to input reverse torque com-
pensation, be sure to select the
-134
6
Winding Operation
Line direction N T
X
Line direction
M
Forward
Torque
Torque
Torque
∆N
limit limit
TREF
0
Speed
SLIM
(d5-05)
Torque
N
limit
TREF(%)
N(%) =
N(%) =
C5-01
− 10 to 10 V signal level.
N T
T N
X
M
Reverse Forward
Torque
Torque
limit
Torque
(d5-05)
(d5-05)
SLIM
0
0
Speed
TREF
Torque
limit
The lower value of ∆N(%) =
TREF(%)
TREF(%)
C5-01
or d5-05(%)
C5-01
Rewinding Operation
Line direction
T N
X X
Line
direction
M M
Reverse
Torque
limit
TREF
∆N
SLIM
Speed
0
SLIM
∆N
(d5-05)
Torque
limit
TREF
The lower value of ∆N(%) =
TREF(%)
or d5-05(%)
C5-01
Torque
Speed
Torque
limit