Yaskawa Sigma Mini - Manual (Page 77)

2.2Setting Parameters According to Host Controller
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Selecting Torque Control
Use the following memory switch to select level 3 (torque control).
Cn-01 Bit A
Control Mode Selection Factory
Setting: 0
For Speed/Torque Control
Cn-01 Bit B
Control Mode Selection Factory
Setting: 0
For Speed/Torque Control
A motor torque reference value is externally input into the Servopack to control torque.
Examples of Use: Tension control
Pressure control
Cn-01
Setting Control Mode
Bit B Bit A
Control Mode
Torque Control
This is a dedicated torque control mode.
D A torque reference is input from T-REF.
D /P-CON is not used.
Torque
reference
Servopack
1 0
D Speed reference input V-REF cannot be
used.
D Parameter Cn-14 can be used for
maximum speed control.
Example of Use:
Tension control
Tension
Servo-
pack
Servomotor
1 1 Not used (do not set)
0 0 Speed control (standard setting)
0 1 Zero-clamp speed control
Input Signals
The following input signals perform torque control.
CN1-12
CN1-13 SG
V-REF/T-REF
Torque reference input
(Analog voltage input)
Speed reference input
(Analog voltage input)
Servopack
Speed/ torque
reference
: Twisted-pair cable.
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