Yaskawa DR2 Sigma Servo - Manual (Page 105)

APPLICATIONS OF Σ-SERIES PRODUCTS
3.2.7 Using Torque Control cont.
92
Cn-01
Setting Control Mode
Bit B Bit A
Control Mode
1 1
Torque Control II
Torque control and speed control can be
switched.
D A speed reference or speed limit value is
input from V-REF (1CN-5).
D T-REF (1CN-9) inputs a toque reference,
torque feed-forward reference or torque
limit value depending on the control mode
used.
D P-CON (1CN-41) is used to switch
between torque control and speed control.
Speed
reference
Servopack
Torque
reference
Switching
between
speed
and
torque
reference
(1CN-5)
(1CN-9)
(1CN-41)
When 1CN-41 is open Torque control
When 1CN-41 is at 0 V Speed control
For Torque Control when P-CON is OFF:
1 1
D T-REF reference controls torque.
D V-REF can be used to limit motor speed.
D V-REF voltage (+) limits motor speed
during forward or reverse rotation.
Principle of Speed Restriction:
When the speed exceeds the speed
limit, negative feedback of torque
proportional to the difference
between the current speed and the
limit speed is performed to return
the speed to within the normal
speed range. Therefore, the actual
motor speed limit value has a
certain range depending on the
load conditions.
Motor speed
Speed limit range
V-REF
3