Torque Limiting Using An Analog Voltage Reference - YASKAWA JUSP-MD D01A Series User Manual

(3) Changes in Output Torque during External Torque Limiting
The following diagrams show the change in output torque when the internal torque limit is set to 800%.
In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction).
/N-CL

5.8.3 Torque Limiting Using an Analog Voltage Reference

For torque limiting by analog voltage reference, the torque is limited by using the analog voltage at the T-REF
terminals for CN1-9 and CN1-10.
From the torque limit value by analog reference and torque limit value by Pn402 and Pn403, whichever is
smaller will be applied.
Parameter
Pn002 n.1
This function can be used only during speed or position control, not during torque control.
The following chart shows when the torque limiting using an analog voltage reference is performed in the
speed control.
Multi-winding drive unit
Torque limit
value
Speed
reference
There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute val-
ues of both + and - voltages are input, and a torque limit value corresponding to that absolute value is applied
in the forward and reverse direction.
OFF
Pn402
OFF
0
Pn403
Pn402
ON
0
Pn405
Pn403
Uses the T-REF terminal as an external torque limit
input.
Pn400
T-REF
Torque reference input gain
(See 5.5.1.)
Pn300
+
V-REF
Speed
reference input
-
gain
(See 5.3.1.)
Speed feedback
/P-CL
Pn402
Speed
Pn404
0
Torque
Pn403
Pn402
Speed
Pn404
0
Pn405
Torque
Pn403
Meaning
Pn415
T-REF filter time constant
(See 6.7.2.)
Pn100
Speed
+
loop
gain
Pn101
Speed loop
integral time
constant
5.8 Limiting Torque
ON
Speed
Torque
Speed
Torque
When Enabled Classification
After restart Setup
Pn402 Forward
torque limit
(See 5.8.1.)
Torque
reference
(See 5.8.1.)
Pn403
Reverse torque limit
5
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