Torque Control Mode - YASKAWA SGDH User Manual

6 Wiring

6.3.3 Torque Control Mode

6.3.3 Torque Control Mode
External speed limit
± ±
( 2 to 10 V
/rated motor speed)
Torque reference
± ±
( 1 to 10 V
/rated torque)
Backup battery
2.8 to 4.5 V
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 Allocation.
∗ 4. ∗ 1.
V-REF 5
6
SG
9
T-REF
10
SG
BAT +
21
∗ 3.
BAT -
22
4
SEN
+5 V
∗ 3.
2
SG
0 V
∗ 5.
+24 V 47
+24VIN
40
/S-ON (SI0)
/P-CON 41
(SI1)
42
P-OT (SI2)
43
(SI3)
N-OT
44 (SI4)
/ALM-RST
45
(SI5)
/P-CL
46
(SI6)
/N-CL
SERVOPACK
∗ 2.
LPF
37
A / D
∗ 2. 38
LPF
39
33
34
35
36
19
20
∗ 6.
48
49
3.3 kΩ
1
(SO1)
25
26
(SO2)
27
28
(SO3)
29
30
31
32
Connector
shell
FG
Connect shield to
connector shell.
6-12
ALO1
Alarm code output
Max. operating voltage:
ALO2
30 VDC
Max. operating current:
ALO3
20 mA DC
PAO
/PAO
PG dividing ratio output
PBO
Applicable line receiver
SN75175 manufactured
/PBO
by Texas Instruments or
the equivalent corresponding
PCO
to MC3486
/PCO
Amount of phase-S rotation
PSO
Serial data output
/PSO Applicable line receiver
SN75175 manufactured
by Texas Instruments or
the equivalent corresponding
SG
to MC3486
/VLT+
Speed limit output
(ON when the motor's
/VLT-
running speed is limited.)
/TGON+
TGON output
(ON at levels above the setting.)
/TGON-
/S-RDY+
Servo ready output
(ON when ready)
/S-RDY-
ALM+
Servo alarm output
(OFF for an alarm)
ALM-
Photocoupler output
Max. operating voltage:
30 VDC
Max. operating current:
50 mA DC
∗ 4.