YASKAWA MP2000 Series User Manual page 102

( 9 ) Torque Reference
OL0C
Torque/Thrust Reference Setting
Set the torque reference for torque reference command (TRQ).
Refer to 7.2.10 Torque Reference (TRQ) on page 7-77 for details.
Description
 The setting unit for this parameter depends on the Torque Unit Selection (OW03, bits C to F),
but the result of applying the torque unit setting is not shown here.
OW0E
Speed Limit Setting at the Torque/
Thrust 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.
 The setting is enabled when a torque reference command is executed.
Speed
Maximum
speed
Description
0
 Related Parameters
For SGDH, SGDM, SGDS, SGDV, and SGD7S SERVO-
PACKs
Pn002.1
Pn407
Pn408.1
Pn300

OW 0F
Torque Reference 1st-order Lag Filter
The primary lag filter can apply to the torque reference and torque limit.
The torque reference primary lag filter set value can be cleared to 0 (zero) at the following timings.
Description
When the command in execution is switched from a motion command to TRQ command.
When the command in execution is switched from TRQ command to another command.
Position Phase
Speed Torque
Position Phase
Speed Torque
<No speed limit>
The high rate of acceleration
may damage the machine.
t
Position Phase
Speed Torque
5.4 MP2000 Series Machine Controller Parameter Details
5.4.2 Motion Setting Parameter Details
Setting Range Setting Unit
Depends on the torque unit set
in Function Setting 1 (setting
31 31
−2 −1
to 2
parameter OW03, bits C to
F).
Setting Range Setting Unit
−32768 to 32767
<Speed limit used>
Speed
Maximum
speed
The speed limit prevents damage.
Limited
speed
0
For SGDA and SGDB SERVOPACKs:
Cn-02, bit 2
Cn-14
-
Cn-03
Setting Range Setting Unit
0 to 32767 ms
Default Value
0
Default Value
0.01% 15000
t
Default Value
0
5
5-31