YASKAWA SGM-A3 User Manual page 105

APPLICATIONS OF Σ-SERIES PRODUCTS
3.2.7 Using Torque Control cont.
3
92
Cn-01
Setting
Bit B Bit A
Torque Control II
Torque control and speed control can be
switched.
D A speed reference or speed limit value is
input from V-REF (1CN-5).
D T-REF (1CN-9) inputs a toque reference,
torque feed-forward reference or torque
1 1
limit value depending on the control mode
used.
D P-CON (1CN-41) is used to switch
between torque control and speed control.
When 1CN-41 is open
When 1CN-41 is at 0 V
For Torque Control when P-CON is OFF:
D T-REF reference controls torque.
D V-REF can be used to limit motor speed.
D V-REF voltage (+) limits motor speed
during forward or reverse rotation.
Principle of Speed Restriction:
1 1
When the speed exceeds the speed
limit, negative feedback of torque
proportional to the difference
between the current speed and the
limit speed is performed to return
the speed to within the normal
speed range. Therefore, the actual
motor speed limit value has a
certain range depending on the
load conditions.
Control Mode Control Mode
Speed
reference
Torque
reference
Switching
between
speed
and
torque
reference
Torque control
Speed control
Motor speed
Servopack
(1CN-5)
(1CN-9)
(1CN-41)
Speed limit range
V-REF