YASKAWA JEPMC-MP2300-Y Series User Manual page 322

6 Motion Parameters
6.4.2 Setting Parameter List
( 10 ) Torque Reference
OL 0C
R
Torque Reference
/Thrust
/Torque Feed Forward Compensation
The meaning will depend on the command.
• Set the torque reference for torque reference commands.
Refer to 7.2.23 Torque Reference (TRQ) on page 7-84 for details.
• Set the torque feed forward gain
Description
Conditions of Use
・ SERVOPACK parameter Pn002.0 = 2
・ SGDS communication interface version 8 or later
OW 0E
Speed Limit at Torque
Reference
Set the speed limit for torque references as a percentage of the rated speed.
Torque control is used to control the Servomotor to output the specified torque, so it does not control the motor speed.
Therefore, when an excessive reference torque is set relative to the load torque of the machine, the machine's torque is
overpowered by the torque reference and the motor speed rapidly increases.
The torque reference speed limit functions to limit the Servomotor speed during torque control to protect the machine.
No speed limit Speed limit used
Speed
Maximum
speed
Description
■ Related Parameters
SGDS, SGDH+NS115, SGDH+NS110
：Pn002.1
Pn407
Pn408.1
Pn300
6-32
Position
Speed
* Torque Feed Forward Gain Function
Torque feed forward gain can be used when interpolation commands (INTERPOLATE, LATCH) are sent
using SGDS SERVOPACKs.
The setting unit for this parameter depends on the Torque Unit Selection (OW
but the result of applying the torque unit setting is not shown here.
Position
/Thrust
Speed
The setting is enabled when a torque reference command is executed.
The high rate of acceleration
may damage the machine.
t
0
Setting Range
Phase
Depends on the torque unit set
31 31
in Function 1 (setting parame-
−2 to 2 −1
Torque
ter OW
*
for interpolation commands.
Setting Range
Phase
−32768 to 32767
Torque
Speed
Maximum
speed
Limited
speed
0
SGD-N, SGDB-N
：Cn-02, bit 2
Cn-14
Setting Unit Default Value
03 bits C to F).
03, bits C to F),
Setting Unit Default Value
0.01% 15000
The speed limit prevents damage.
t
0