YASKAWA Sigma II Series User Manual page 112

Sigma II User's Manual
reference signal to T-REF (CN1-9 and 10).
Host controller
+
-
Position
reference
n
Using the Torque Feed-Forward Function
To use the torque feed-forward function, set the following parameter to 2.
Parameter
Speed Control Option
Pn002.0
(T-REF Terminal Allocation)
This setting enables the torque feed-forward function.
Pn002.0 Setting
0
1
2
The torque feed-forward function cannot be used with the torque limiting by analog
voltage reference function described in 5.2.9 Using Torque Limiting by Analog Volt-
age Reference.
n
Setting
Torque feed-forward is set using parameter Pn400.
The default setting at Pn400 is 30. If, for example, the torque feed-forward value is
±3V, then torque is limited to ±100% of the rated torque.
Parameter
Torque Reference Input Adjust-
Pn400
ment Factor
SGDH Servo Amplifier
T-REF
Differ
KFF
ential
V-REF
Kp
Signal
None.
T-REF terminal used for external torque limit input.
T-REF terminal used for torque feed-forward input.
Signal
Chapter 5: Parameter Settings and Functions
Pn400
+
+ +
Pn300 Pn100 Current loop
-
+ +
Integration
(Pn101)
Speed
calculation
Divider
Setting
(rpm)
Default Setting: 0
T-REF Function
Setting
(rpm)
Setting Range: 0 to 100
Default Setting: 30
5-45
Servomotor
M
PG
Encoder
Control Mode
Speed/Torque Control
Control Mode
Speed/Torque Control