D5: Torque Control - YASKAWA U1000 Series Technical Manual

5.4 d: Reference Settings
No.
d4-08
■ d4-09: Frequency Reference Bias Lower Limit (Up/Down 2)
Parameter d4-09 sets the lower limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter
d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.
Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the
frequency reference if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. If the bias is increased using
the Up 2 command, it cannot be reduced with a Down 2 command when the limit set in d4-09 is 0. To allow speed reduction in
this situation, set a negative lower limit in d4-09.
No.
d4-09
d4-10: Up/Down Frequency Reference Limit Selection
■
Selects how the lower frequency limit is set when the Up/Down function is used. Refer to
command on page 269 for details on the Up/Down function in combination with frequency reference limits.
No.
d4-10
Setting 0: Lower Limit is Determined by d2-02 or Analog Input
The lower frequency reference limit is determined by the higher value of either parameter d2-02 or an analog input (A1,
A2, A3) that is programmed for "Frequency bias".
Note: For example, if the command to switch the external reference (H1- = 2) is used to switch between the Up/Down function and
an analog input as the reference source, then the analog value would become the lower reference limit when the Up/Down
command is active. Change d4-10 to 1 to make the Up/Down function independent of the analog input value.
Setting 1: Lower Limit is Determined by Parameter d2-02
Only parameter d2-02 sets the lower frequency reference limit.

◆ d5: Torque Control

Torque Control is available for CLV and CLV/PM (A1-02 = 3, 7). It allows to define a setpoint for the torque produced
by the motor.
Torque Control Operation
■
Torque control can be enabled either by setting parameter d5-01 to 1 or by a digital input (H1- = 71).
illustrates the working principle.
Figure 5.50
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 used as 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. An operation beyond
the speed limit is prevented by compensating 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.
238
Parameter Name
Frequency Reference Bias Upper Limit (Up/Down 2)
Parameter Name
Frequency Reference Bias Lower Limit (Up/Down 2)
Parameter Name
Up/Down Frequency Reference Limit Selection
d5-02
Torque Reference Delay
C1- , C2-
Soft
d5-03
Starter
1
2
Figure 5.50 Torque Control Block Diagram
Setting Range
0.0 to 100.0%
Setting Range
-99.9 to 0.0%
Setting Range
d5-08
Speed Limiter
Compensated torque
reference
YASKAWA ELECTRIC SIEP C710636 02B YASKAWA U1000 Technical Manual
Default
100.0%
Default
0.0%
Setting 10, 11: Up, Down
Default
0 or 1 0
Figure 5.50
U1-09
L7-
+
Torque Internal Torque
Limits Reference
+