YASKAWA MP2100 Series User Manual page 305

9 Control Block Diagrams
9.1.3 Torque Control
9.1.3 Torque Control
(1) Motion Parameters for Torque Control
(a) Fixed Parameters
No.
0
1
2
4
5
6
8
9
10
12
14
16
29
30
34
36
38
42
(b) Setting Parameters
No.
OW
OW
OW
OW
OW
OW
OW
OW
OW
OL 0C
OW
OL
OL
OL
OW
OL 1C
OL 1E
OL
OL
OW
OL
OL 2A
OL 2C
OW
OW
OW
OW
OW
OW
OL
OL
OW
OW
OW
OL 3E
9-10
Name
Run Mode
Function Selection 1
Function Selection 2
Command Unit
Number of Decimal Places
Command Unit per Revolution
Gear Ratio [MOTOR]
Gear Ratio [LOAD]
Maximum Value of Rotary Counter (POSMAX)
Forward Software Limit
Reverse Software Limit
Backlash Compensation
Motor Type
Encoder Type
Rated Speed
Encoder Resolution
Max. Revolutions of Absolute Encoder
Feedback Speed Moving Average Time Constant
Name
00 Run Commands
01 Mode 1
02 Mode 2
03 Function 1
04 Function 2
05 Function 3
08 Motion Command
09 Motion Command Options
0A Motion Subcommand
Torque Reference
0E Speed Limit at Torque Reference
10 Speed Reference
14 Positive Side Limiting Torque Setting at the Speed
Reference
16 Secondly Speed Compensation
18 Speed Override
Position Reference Type
Positioning Completed Width
20 Positioning Completed Width 2
22 Deviation Abnormal Detection Value
26 Position Complete Timeout
28 Phase Compensation
Latch Zone Lower Limit Setting
Latch Zone Upper Limit Setting
2E Position Loop Gain
2F Speed Loop Gain
30 Speed Feed Forward Compensation
31 Speed Amends
32 Position Integration Time Constant
34 Speed Integration Time Constant
36 Linear Acceleration Time
38 Linear Deceleration Time
3A S-Curve Acceleration Time
3C Home Return Type
3D Home Window
Approach Speed
Setting Unit Default Value
−
1
−
0000 h
− 0000 h
−
0
− 3
Reference unit 10,000
− 1
−
1
Reference unit 360,000
Reference unit
31
2 −1
Reference unit 31
−2
Reference unit 0
− 0
−
0
3,000
−1
min
pulse 65,536
Rev 65,534
ms 10
Setting Unit Default Value
−
0000 h
−
0000 h
− 0000 h
−
0011 h
−
0033 h
− 0000 h
−
0
−
0000 h
− 0
Depends on torque unit. 0
0.01% 15,000
Depends on speed unit. 3,000
Depends on torque unit. 30,000
Depends on speed unit. 0
0.01% 10,000
Reference unit 0
Reference unit 100
Reference unit 0
Reference unit 31
−1
2
ms 0
Reference unit 0
Reference unit
31
−2
Reference unit 31
2 −1
0.1/s 300
Hz 40
0.01% 0
0.01% 0
ms 0
0.01 ms 2,000
Depends on acceleration/ 0
deceleration unit.
Depends on acceleration/ 0
deceleration unit.
0.1 ms 0
−
0
Reference unit 100
Depends on speed unit. 1,000
Setting Range
0 to 5
Bit Setting
Bit Setting
0 to 3
0 to 5
31
1 to 2 −1
1 to 65,535
1 to 65,535
31
−1
1 to 2
31 31
−2 to 2 −1
31 31
−2 to 2 −1
31 31
−2 −1
to 2
0 or 1
0 to 3
1 to 32,000
31
1 to 2 −1
31
0 to 2 −1
0 to 32
Setting Range
Bit Setting
Bit Setting
Bit Setting
Bit Setting
Bit Setting
Bit Setting
0 to 26
Bit Setting
0 to 65,535
31 31
−2 −1
to 2
−32,768 to 32,767
31 31
−2 −1
to 2
31 31
−2 to 2 −1
31 31
−2 to 2 −1
0 to 32,767
31 31
−2 to 2 −1
0 to 65,535
0 to 65,535
31
−1
0 to 2
0 to 65,535
31 31
−2 −1
to 2
31 31
−2 to 2 −1
31 31
−2 to 2 −1
0 to 32,767
1 to 2,000
0 to 32,767
−32,768 to 32,767
0 to 32,767
15 to 65,535
31
−1
0 to 2
31
−1
0 to 2
0 to 65,535
0 to 19
0 to 65,535
31 31
−2 −1
to 2