YASKAWA GA800 Programming Manual page 288

2.5 d: References
The externally input torque reference is the target value for the motor output torque. If the motor output torque and
load torque are not balanced during Torque Control, the motor accelerates or decelerates. To prevent operation beyond
the speed limit, the drive corrects the external torque reference if the motor speed reaches the speed limit. The speed
limit, speed feedback, and the speed limit bias are the values that calculate the compensation value.
When an external torque compensation value is input, the drive adds that value to the speed limit compensated torque
reference value. The values L7-01 to L7-04 [Torque Limit] limit the resulting torque reference. The drive uses the
value as the internal torque reference. You can use U1-09 [Torque Reference] to monitor the calculated torque
reference. The torque limit values set in L7-01 to L7-04 are most important. Although you can set a higher external
torque reference from an external source, the motor will not operate a torque output higher than the values set in L7-
01 to L7-04.
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Setting the Torque Reference, Speed Limit, and Torque Compensation Values
Torque Control Input Value Selection
Table 2.38 lists the method for torque control input signals.
Configuration Parameter
Torque Reference
Speed Limit
288
Figure 2.68 Torque Control Block Diagram
Table 2.38 The Method for Torque Control Input Signals
Signal Input Method
Drive analog input terminals A1, A2, A3
Analog reference option cards AI-A3
MEMOBUS register 0004H
Communication option card
Frequency Reference Selection
(Reference source selected with b1-01)
d5-04 [Speed Limit]
Parameter Settings
H3-02, H3-10, H3-06 = 13 [MFAI Function
Select= Torque Reference / Torque Limit]
• F2-01 = 0 [Analog Input Function
Selection = 3 Independent Channels]
*1
• H3-02, H3-10, and H3-06 = 13
• b1-01 = 2 [Frequency Reference
Selection 1 = Memobus/Modbus
Communications]
• When register bit 2 of 000FH = 1, the
torque reference and torque limit from
register 0004H is enabled.
• b1-01 = 3 [Option PCB]
• F6-06 = 1 [Torque Reference/Limit by
Comm = Enabled]
Refer to the communication option card
manual for more information about the
torque reference setting.
d5-03 = 1 [Speed Limit Selection = Active
Frequency Reference]
The drive gets the speed limit from the
frequency reference source input in b1-01 or
b1-15 [Frequency Reference Selection 2].
*1
d5-03 = 2 [d5-04 Setting]
YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Notes
The level of the set input signal must align
*1
with the polarity of the external signals.
H3-02, H3-10, or H3-06 settings are enabled
for the option card input terminal. The level
of the set input signal must align with the
polarity of the external signals.
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The drive applies the settings in C1-01 to
C1-08 [Acceleration/Deceleration Times]
and C2-01 to C2-04 [S-Curve Time @ Start/
End of Accel/Decel] to the speed limit.
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