Yaskawa G7 Drive - Manual (Page 343)

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„ Torque Reference Adjustment
Consider the following information when adjusting the torque.
Torque Reference Delay Time: d5-02
The time constant of the primary filter in the torque reference section can be adjusted. This parameter is used
to eliminate noise in the torque reference signal and adjust the responsiveness to the host controller. Increase
the setting if oscillation occurs during torque control.
Setting the Torque Compensation
Set multi-function analog input A2 or A3 to torque compensation (setting 14). When the amount of torque loss
for mechanical loss or other factor at the load is input to one of these terminals, it is added to the torque refer-
ence to compensate for the loss. The direction of torque will be as follows:
• Positive voltage (current): Torque compensation reference for forward motor rotation (counterclockwise as
viewed from the motor output axis).
• Negative voltage: Torque compensation reference for reverse motor rotation (clockwise as viewed from
the motor output axis).
Since the polarity of the voltage input determines the direction, only forward torque compensation can be
input when the 0 to 10V or 4 to 20mA signal level has been selected. If you want to input reverse torque com-
pensation, be sure to select the 0 to ±10V signal level.
Winding Operation Rewinding Operation
Configuration
Normal Rotation
Direction
Forward Reverse Forward Reverse
Torque Reference
Polarity (TREF)
Speed Limit Polar-
ity (SLIM)
Generated Torque
X
M
Line direction
N T
Motor
X
M
Line direction
N
T
Torque
limit
Torque
limit
Speed
SLIM
0 -(d5-05)
TREF(%)
C5-01
TREF
Torque Torque
limit
Torque
limit
Speed
SLIM
0
TREF
(d5-05)
TREF(%)
C5-01
Torque Torque
limit
Torque
limit
Speed
SLIM
0
TREF
-(d5-05)
TREF(%)
C5-01
d5-05(%)
The smaller
of these
Torque
Torque
limit
Torque
limit
Speed SLIM 0
TREF
(d5-05)
The smaller
of these TREF(%)
C5-01
d5-05(%)
Torque