Yaskawa SGDB - Manual (Page 101)

3.2 Setting Parameters According to Host Controller
89
Cn-2B Control Mode
In the Torque Control mode (/P-CON is OFF):
• T-REF reference controls torque.
• V-REF can be used to limit motor speed.
(when bit 2 of Cn-02 is 1)
V-REF voltage (+) limits motor speed during
forward or reverse rotation.
• Parameter Cn-14 can be used to limit the
maximum motor speed.
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
9
In the Speed Control mode (/P-CON is ON):
Values set in bit 9 of parameter Cn-02 and bit 8 of Cn-02 determine the
following:
Parameter Speed
Reference
Torque
Cn-02 Cn-02
Reference
Input
(V REF)
Torque
Input
(T-REF)
Remarks
Bit 9 Bit 8
p
(V-REF)
(1CN-5, 6)
(T-REF)
(1CN-9, 10)
Speed control
0 0 Speed
reference
Cannot be
used
1
Speed control with torque
feed-forward
Any value can be set in bit 8
of Cn-02 (0 and 1 have the
same effect).
For details of speed control
1 −−−−
Speed
reference
Torque
feed-forward
For details of speed control
with torque feed-forward,
refer to Section 3.2.8 Using
Torque Feed-forward
Function.
0 1
Speed control with torque
limit by analog voltage
reference
For details of speed control
with torque limit by analog
voltage reference, refer to
Section 3 2 9 Using Torque
0 1
Speed
reference
Torque limit
value
Section 3.2.9 Using Torque
Restriction by Analog Voltage
Reference.
3