Yaskawa FSP Amplifier - Manual (Page 101)

FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions
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5.2.7. Using Torque Control
The FSP Amplifier limits torque as shown below.
• Level 1: Limits maximum output torque to protect equipment or
workpiece.
• Level 2: Limits torque after the servomotor moves the equipment to a
specified position (external torque limit).
• Level 3: Controls torque output rather than speed output.
• Level 4: Switches between speed and torque control.
The following describes uses for levels 3 and 4 in the torque control
function.
„ Torque Control Selection
Set the following parameter to select the type of control described in levels
3 and 4.
Parameter Signal Setting Control Mode
Pn000.1
Control Method
Selection
Default Setting: D
Speed, Torque,
Position Control,
and Programming
For further explanation of settings, see Appendix D.2 Switches.
A torque reference is entered from the host controller to the servo amplifier
in order to control torque.