Operating Using Torque Control; Torque Reference Input; Setting Parameters - YASKAWA SGDH User Manual

8.7 Operating Using Torque Control

8.7.1 Setting Parameters

The following parameters must be set for torque control operation with analog voltage reference.
Parameter
n.
Pn000
Pn400 Torque Reference Input Gain
(1.0 to 10.0 V/rated torque)
This sets the analog voltage level for the torque reference (T-REF) that is
necessary to operate the servomotor at the rated torque.
EXAMPLE
Pn400 = 30: The servomotor operates at the rated torque with 3-V input
(factory setting).
Pn400 = 1000: The servomotor operates at the rated torque with 10-V
input.
Pn400 = 200: The servomotor operates at the rated torque with 2-V input.

8.7.2 Torque Reference Input

By applying a torque reference determined by the analog voltage reference to the SERVOPACK, the servomotor
torque can be controlled in proportion with the input voltage.
Type Signal
Name
Input T-REF
SG
Used during torque control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The torque reference gain is set in Pn400. For setting details, refer to 8.7.1 Setting Parameters.
Input Specifications
±
• Input range: 1 to
• Max. allowable input voltage:
• Factory setting
Pn400 = 30: Rated torque at 3 V
+3-V input: Rated torque in forward direction
+9-V input: 300% rated torque in forward direction
-0.3-V input: 10% rated torque in reverse direction
The voltage input range can be changed with parameter Pn400.
Input Circuit Example
Use twisted-pair wires as a countermeasure against noise.
Variable resistor example: Model 25HP-10B manufactured by Sakae
Tsushin Kogyo Co., Ltd.
2
Control mode selection: Torque control (analog voltage reference)
Setting Range Setting Unit
10 to 100 0.1V/rated torque
Connector
Pin Number
CN1-9 Torque Reference Input
CN1-10 Signal Ground for Torque Reference Input
±10
/ra
VDC ted torque
±
12 VDC
Meaning
Factory Setting
30
Reference torque
Rated torque
Name
Reference torque (%)
Factory setting
+12 V
8-61
8.7 Operating Using Torque Control
Speed Position Torque
Setting Validation
Immediately
Reference voltage (V)
This reference voltage is set.
300
200
100
- 12 - 8 - 4
0 3 4 8
Input voltage (V)
- 100
- 200
Set the slope
- 300
with Pn400.
SERVOPACK
470 Ω
1/2 W min.
CN1
T-REF 9
2 kΩ
SG
10
8
12