YASKAWA AC Drive-A1000 - Page 181

If required by the application, set up a delay time using parameter d5-06. The reference values (torque reference/speed limit
in Torque Control or speed reference/torque limit in Speed Control) are held during this switch delay time. Change the reference
values from the controller within this delay time.
Note: 1. The switching delay time d5-06 is not applied when the Stop command is entered. Here the operation switches immediately to speed control
and the drive decelerates to stop at the torque limit.
2. Set d5-01 to 0 when switching between Torque Control and Speed Control. An oPE15 alarm will be triggered if parameter d5-01 is set to
1 while H1-oo is set to 71 at the same time.
d5-06
Speed/Torque control
input (H1-oo = 71)
Run command
OFF
ON OFF
ON
d5-06
OFF
ON
Operation Mode
Speed Control Torque Control Speed Control Torque Control
Frequency refernce
signal or d5-04
Speed Ref. Speed Limit Speed Ref. Speed Limit
Torque LimitTorque Limit Torque Reference Torque Reference
Speed Control
d5-06
Speed Ref.
Torque Limit
Torque reference
signal/
Figure 5.50 Speed/Torque Control Switching Time
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d5-01: Torque Control Selection
No. Parameter Name Setting Range Default
d5-01 Torque Control Selection 0, 1 0
Setting 0: Disabled
Speed Control will be active. Also use this setting when H1-oo = 71 (Speed/Torque Control Switch).
Setting 1: Enabled
Torque Control is always enabled.
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d5-02: Torque Reference Delay Time
Apply a filter with the time constant set to parameter d5-02 to the torque reference signal to eliminate oscillation resulting
from an unstable torque reference signal. A higher filter time stabilizes control while reducing the responsiveness.
No. Parameter Name Setting Range Default
d5-02 Torque Reference Delay Time 0 to 1000 ms 0 ms
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d5-03: Speed Limit Selection
Determines how the speed limit is set.
No. Parameter Name Setting Range Default
d5-03 Speed Limit Selection 1 or 2 1
Setting 1: Frequency Reference Input
The frequency reference value at the active reference source (digital operator, External reference 1 or External reference 2)
will be used as speed limit. Note that in this case all settings for accel/decel times (C1-01 to C1-08) and S-curves (C2-01 to
C2-04) will apply for the speed limit.
Setting 2: d5-04
The speed limit is set by parameter d5-04.
5.4 d: Reference Settings
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
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Parameter Details