Torque Control Mode - YASKAWA SGM H Series User Manual

6.3.3 Torque Control Mode

∗ 4.
External speed limit
± ±
( 2 to 10 V
/rated motor speed)
Torque reference
± ±
( 1 to 10 V
/rated torque)
∗ 3.
Backup battery
2.8 to 4.5 V
+5 V
∗ 3.
SEN signal input
Servo ON
(Servo ON when ON)
P control
(P control when ON)
Forward run prohibited
(Prohibited when OFF)
Reverse run prohibited
(Prohibited when OFF)
Alarm reset
(Reset when ON)
Forward current limit
(Limit when ON)
Reverse current limit
(Limit when ON)
* 1. : represents twisted-pair wires.
* 2. The time constant for the primary filter is 47 µs.
* 3. Connect a backup battery when using an absolute encoder. When connecting a battery to the host controller,
however, do not connect a backup battery.
* 4. Enabled by the parameter setting.
* 5. Customers must purchase a 24 VDC power supply with double-shielded enclosure.
* 6. Enabled when using the absolute encoder.
Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be changed by
using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation and 7.3.3 Output Circuit Signal Alloca-
tion.
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SERVOPACK
∗ 1.
∗ 2.
V-REF 5
LPF
SG 6
∗ 2.
T-REF 9
LPF
10
SG
BAT +
21
BAT -
22
SEN 4
2
SG
0 V
∗ 5.
3.3 kΩ
+24 V 47
+24VIN
40
/S-ON (SI0)
41
/P-CON
(SI1)
42
P-OT (SI2)
43
(SI3)
N-OT
44 (SI4)
/ALM-RST
45
(SI5)
/P-CL
46
(SI6)
/N-CL
6.3 Examples of I/O Signal Connections
37
ALO1
Alarm code output
A / D
Max. operating voltage:
38 ALO2
30 VDC
39 ALO3
33
PAO
34
/PAO
PG dividing ratio output
35
PBO
Applicable line receiver
36 /PBO
19
PCO
20 /PCO
∗ 6.
Amount of phase-S rotation
48 PSO
49 /PSO
SG
1
(SO1)
/VLT+
25
/VLT-
26
(SO2)
/TGON+
27
/TGON-
28
(SO3)
29 /S-RDY+
30
/S-RDY-
31 ALM+
Servo alarm output
(OFF for an alarm)
32 ALM-
Photocoupler output
Max. operating voltage:
Connector
30 VDC
shell
Max. operating current:
50 mA DC
FG
Connect shield to
connector shell.
Max. operating current:
20 mA DC
SN75175 manufactured
by Texas Instruments or
the equivalent corresponding
to MC3486
Serial data output
Applicable line receiver
SN75175 manufactured
by Texas Instruments or
the equivalent corresponding
to MC3486
Speed limit output
(ON when the motor's
∗ 4.
running speed is limited.)
TGON output
(ON at levels above the setting.)
Servo ready output
(ON when ready)
6
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