Yaskawa DR2 Sigma Servo - Manual (Page 109)

APPLICATIONS OF Σ-SERIES PRODUCTS
3.2.7 Using Torque Control cont.
96
• Torque/Speed Changeover Control
This function is used to switch between torque control and speed control in torque con-
trol II mode.
ON: 1CN-41 is at low level. Speed control
OFF: 1CN-41 is at high level. Torque control
4) Set the following user constants for torque control according to the servo system used.
Cn-13
TCRFGN
Torque Reference
Gain
Unit:
0.1 V/Rated
Torque
Setting
Range:
10 to 100
Factory
Setting:
30
For Speed/Torque
Control Only
Sets the voltage range of torque reference input
T-REF (1CN-9) according to the output form of the
host controller or external circuit.
The factory setting is 30, so the rated torque is 3 V (30 x 0.1).
Cn-14
TCRLMT
Speed Limit for Torque
Control I
Unit:
r/min
Setting
Range: 0 to
Maximum
Speed
Factory
Setting:
Maximum
Speed
For Speed/Torque
Control Only
Sets a motor speed limit value in this constant
when torque control I is selected.
This user constant is used to prevent machine
overspeed during torque control.
For torque control I, set bits A and B of memory switch Cn-01.
Cn-03
VREFGN
Speed Reference
Gain
Unit:
(r/min)/V
Setting
Range:
10 to
2162
Factory
Setting:
500
For Speed/Torque
Control Only
Sets the voltage range of speed reference input V-
REF (1CN-3) according to the output form of the
host controller or external circuit.
The factory setting is 500 [rated speed (3000 r/min)/6 V = 500].
3
Reference torque
Rated torque
Reference
voltage (V)
Set this reference voltage.
Speed Control Range for Torque Control I
Motor speed
TCRLMT
Torque
Torque
control
range
Reference
speed
(r/min)
Set this
slope.
Reference
voltage (V)