D5: Torque Control - YASKAWA A1000 Series Technical Manual

5.4 d: Reference Settings
d4-12: Stop Position Gain
■
Sets the gain for adjusting the stopping accuracy when simple positioning is selected as the stopping method (b1-03 = 9).
No.
d4-12
Increase the value if the motor stops before the desired stop position is reached. Decrease it if the motor stops too late.
Also refer to b1-03: Stopping Method Selection on page 138

◆ d5: Torque Control

Torque Control is available for CLV and CLV/PM (A1-02 = 3, 7). It allows to define a setpoint for the torque produced
by the motor.
■ Torque Control Operation
Torque control can be enabled either by setting parameter d5-01 to 1 or by a digital input (H1-
illustrates the working principle.
Figure 5.50
Torque Compensation
External Torque Reference
External Speed Limit
Speed Limit set in d5-04
Speed Feedback
Speed Limit Bias d5-05
The externally input torque reference is used as the target value for the motor output torque. If the motor torque reference
and the load torque are not in balance when in Torque Control, the motor accelerates or decelerates. An operation beyond
the speed limit is prevented by compensating the external torque reference value if the motor speed reaches the limit. The
compensation value is calculated using the speed limit, speed feedback, and the speed limit bias.
If an external torque compensation value is input, it is added to the speed limit compensated torque reference value. The
value calculated is limited by the L7-
monitored in U1-09. The L7-
than the L7- settings, even if the external torque reference value is increased.
■ Setting the Torque Reference, Speed Limit, and Torque Compensation Values
Torque Control Reference Sources
Input values for Torque Control can be set like explained in
Input Value
Analog inputs A1/A2/A3
Analog Option Card
Torque Reference
MEMOBUS Register 0004h
Communication Option Card
188
Parameter Name
Stop Position Gain
d5-02
Torque Reference Delay
C1- , C2-
Soft
d5-03
Starter
1
2
Figure 5.50 Torque Control Block Diagram
settings, and is then used as the internal torque reference, which can be
settings have highest priority, i.e., the motor cannot be operated with a higher torque
Table 5.18 Torque Control Input Value Selection
Signal Source
H3-02, H3-06, or H3-10 = 13
• F2-01 = 0
• H3-02, H3-06, or H3-10 = 13
Set Register 000Fh, Bit 2 = 1 to enable Torque
reference from register 0004h
F6-06 = 1
Refer to the option card manual for details about
setting the torque compensation value.
for details on simple positioning.
d5-08
Speed Limiter
Compensated torque
reference
Table 5.18.
Settings
<1>
<1>
YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual
Setting Range
0.50 to 2.55
= 71).
U1-09
L7-
+
Torque
Limits
+
common_TMonly
Remarks
Make sure the signal level settings for the input terminal selected
match the signal used. Refer to H3: Multi-Function Analog Inputs
on page 234 for details on adjusting analog input signals.
The F3- settings become effective for the option board input
terminals. Make sure the signal level settings for the input terminal
selected match the signal used. Refer to
Analog Inputs on page 234 for details on adjusting analog input
signals.
–
–
Default
1.00
Figure 5.50
Internal Torque
Reference
H3: Multi-Function