YASKAWA GA800 Programming Manual page 289

Configuration Parameter
Torque Compensation
*1 Sets analog input terminals A1, A2, and A3 to supply the speed limit, torque reference, or torque compensation. If you set the same
function to A1 to A3 terminals with H3-02, H3-10, or H3-06, the drive will detect oPE07 [Analog Input Selection Error].
Input Signal Polarity
The positive and negative torque references set the motor rotation direction. The direction of the Run command does
not set it. The positive and negative torque reference signals and the direction of the Run command have an effect on
the internal torque reference.
Run Command Direction
Forward run
Reverse run
Note:
For Yaskawa motors, the forward run direction is counterclockwise direction when seen from the load shaft.
When you use analog inputs, you can get negative input values with these methods:
• Apply negative voltage input signals.
• Use positive voltage input signals and set the analog input bias to negative values.
• Apply positive voltage input signals and use a digital input programmed for Analog TorqueRef Polarity Invert [H1-
xx = 78].
When you use MEMOBUS/Modbus communication or a communication option card, set the positive or negative
signed torque reference.
When the level of the analog signal input is 0 V to 10 V or 4 mA to 20 mA, the torque reference is the forward
direction. To reverse the polarity of the torque reference, use one of these two methods:
• Use a -10 V to +10 V voltage input
• Set H1-xx = 78 [MFDI Function Select = Analog TorqueRef Polarity Invert].
■
Speed Limit and Speed Limit Bias
The drive reads the speed limit setting from the input selected in d5-03 [Speed Limit Selection]. You can use d5-05
[Speed Limit Bias] to add a bias to this speed. Parameter d5-08 [Uni-directional Speed Limit Bias] sets how the drive
applies bias to the speed limit.
Table 2.40 shows the relation between these settings:
Table 2.40 Speed Limit, Speed Bias and Speed Limit Priority Selection
Run command Forward
Torque reference + (Positive)
direction
YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Signal Input Method
Drive analog input terminals A1, A2, A3
Analog reference option cards AI-A3
MEMOBUS register 0005H
Communication option card
Table 2.39 Torque Control Signal Polarity
Torque Reference Signal Polarity
+ (Positive)
- (Negative)
+ (Positive)
- (Negative)
Reverse Forward
+ (Positive) - (Negative) - (Negative)
Parameter Settings
H3-02, H3-10, or H3-06 = 14 [Torque
*1
Compensation]
• F2-01 = 0
*1
• H3-02, H3-10, or H3-06 = 14
• b1-01 = 2
• When register bit 3 of 000FH = 1, the
torque reference and torque limit from
register 0005H is enabled.
b1-01 = 3
Refer to the communication option card
manual for more information about the
torque reference setting.
Direction of Motor Rotation
Forward direction
Reverse direction
Reverse direction
Forward direction
Operating Conditions
Reverse Forward
- (Negative) - (Negative)
2.5 d: References
Notes
The level of the set input signal must align
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.
-
-
Polarity of the Internal Torque
Reference [U1-09]
+ (Positive)
- (Negative)
- (Negative)
+ (Positive)
Reverse Forward
+ (Positive) + (Positive)
2
Reverse
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