Yaskawa MP940 Reference Manual - Manual (Page 137)

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual
4-46
Pn000.1 Pn002 Control Format
The conditions assumed when using the MP940 in combination are shown in
detail below:
User
Parameter
Setting Content
Factory
Setting
Pn000.1
Control
Format 9 Torque Control
⇔Speed Control (analog)
It is possible to switch between torque control and speed
control.
0
Pn002.1
Torque Control
Option 1 During torque control (when C-SEL = 0)
Executes torque control in accordance to the INTRF com-
mand.
It is possible to apply speed limits with INVRF. 0
Pn002.0
Speed Control
Option 1 During speed control (when C-SEL = 1)
Executes speed control in accordance to the INVRF com-
mand.
It is possible to apply torque limits with INTRF. 0
Speed
Reference
Torque
Reference
Speed/
Torque
Switching
INVRF
INTRF
C-SEL
MP940→SGDH
Speed Limit
Torque
Reference
INVRF
MP940→SGDH
INTRF
Speed Limit
Torque
Reference
MP940→SGDH
Speed
Reference
Torque
Limit
INVRF
INTRF
Torque
Limit
Speed
Reference