YASKAWA SVC User Manual page 99

3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
Torque Reference
 Torque/Force Reference Setting or Torque Feedforward Compensa-
tion
This meaning of this subcommand depends on the motion command.
• When the TRQ (Issue Torque/Force Reference) motion command is executed, set the torque
reference. Refer to the following section for details.
TRQ (Issue Torque/Force Reference) on page 4-94
• When the INTERPOLATE (Interpolation), VELO (Issue Speed Reference), or PHASE (Issue
Phase Reference) motion command is executed, set the torque feedforward compensation.
Register
Address
OL0C
Setting Precautions
The unit that is set in the Torque Unit Selection bits (OW03 bits C to F) is used for this
parameter.
 Speed Limit for Torque/Force Reference
Set the speed limit as a percentage of the rated speed when the TRQ (Issue Torque/Force Ref-
erence) motion command is executed.
Register
Address
OW0E
Torque control is used to control the Servomotor to output the specified torque. It does not
control the motor speed. Therefore, when an excessive reference torque is set relative to the
load torque of the machine, the machine's torque is overpowered by the torque reference and
the motor speed rapidly increases.
The torque reference speed limit serves to limit the Servomotor speed during torque control to
protect the machine.
Maximum speed
Setting Precautions
This parameter setting is used when the TRQ command is executed.
Related Parameters
Pn002 = n.
3-46
SVC SVR
Name
Torque/Force Reference Setting
or Torque Feedforward Compen-
sation
Name
Speed Limit for Torque/Force
Reference
No Speed Limit
High acceleration
Speed
may damage the
machine.
0
 
x , Pn407, and Pn408 = n.
Setting
Range
−1
31 31
-2 to 2
Setting
Range
-32,768 to
32,767
Speed
Maximum speed
Speed limit
t
 
x SERVOPACK parameters
Setting Unit Default
The unit that
is set in the
Torque Unit 0
Selection bits
is used.
SVC
Setting Unit Default
0.01% 15,000
Speed Limit Specified
Safe because of
the speed limit.
t
0
Control mode
Phase
Position
Speed
Torque
Control mode
Torque