YASKAWA G7 Series Technical Manual page 344

Configuration
Normal Rotation
Direction
Torque Reference
Polarity (TREF)
Speed Limit Polar-
ity (SLIM)
Generated Torque
Torque Reference Adjustment
Consider the following information when adjusting the torque.
Torque Reference Delay Time: d5-02
The time constant of the primary filter in the torque reference section can be adjusted. This parameter is used
to eliminate noise in the torque reference signal and adjust the responsiveness to the host controller. Increase
the setting if oscillation occurs during torque control.
Setting the Torque Compensation
Set multi-function analog input A2 or A3 to torque compensation (setting 14). When the amount of torque loss
for mechanical loss or other factor at the load is input to one of these terminals, it is added to the torque refer-
ence to compensate for the loss. The direction of torque will be as follows:
Positive voltage (current): Torque compensation reference for forward motor rotation (counterclockwise as
•
viewed from the motor output axis).
Negative voltage: Torque compensation reference for reverse motor rotation (clockwise as viewed from
•
the motor output axis).
Since the polarity of the voltage input determines the direction, only forward torque compensation can be
input when the 0 to 10V or 4 to 20mA signal level has been selected. If you want to input reverse torque com-
pensation, be sure to select the 0 to ±10V signal level.
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Winding Operation
Line direction
Forward
Torque Torque
Torque
Torque
limit limit
TREF
-(d5-05) 0
Speed
SLIM
Torque
limit
TREF(%)
C5-01
Rewinding Operation
N T
T
X
X
N
M
M Motor
Reverse Forward
Torque
Torque
limit
SLIM
-(d5-05)
SLIM
(d5-05)
0
0
Speed
TREF
TREF
Torque
limit
TREF(%)
TREF(%)
C5-01
d5-05(%)
C5-01
Line direction
Reverse
Torque
Torque
limit
TREF
SLIM 0
Speed
Speed
(d5-05)
Torque
limit
Torque
limit
The smaller
TREF(%)
The smaller
of these
of these
C5-01
d5-05(%)