YASKAWA E-7-Series SGD7S - Page 27

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6.7 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
6.7.1 Basic Settings for Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
6.7.2 Adjusting the Torque Reference Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-38
6.7.3 Torque Reference Filter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
6.7.4 Speed Limit during Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
6.8 Encoder Divided Pulse Output . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
6.8.1 Encoder Divided Pulse Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
6.8.2 Setting for the Encoder Divided Pulse Output . . . . . . . . . . . . . . . . . . . . . . 6-49
6.9 Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51
6.9.1 Input Signals for Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . . 6-51
6.9.2 Setting the Control Method to Internal Set Speed Control. . . . . . . . . . . . . 6-52
6.9.3 Settings for Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52
6.9.4 Changing Internal Set Speeds with Input Signals . . . . . . . . . . . . . . . . . . . 6-53
6.10 Selecting Combined Control Methods . . . . . . . . . . . . . . . . . . . 6-55
6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6 . . . . . . 6-55
6.10.2 Setting Pn000 = n.X (Control Method Selection) to 7, 8, or 9 . . . . . . 6-58
6.10.3 Setting Pn000 = n.X (Control Method Selection) to A or B . . . . . . . . 6-58
6.11 Selecting Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-60
6.11.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-60
6.11.2 External Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-61
6.11.3 Limiting Torque with an Analog Reference. . . . . . . . . . . . . . . . . . . . . . . . . 6-64
6.11.4 Limiting Torque with an External Torque Limit and
an Analog Voltage Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66
6.11.5 /CLT (Torque Limit Detection) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-69
6.12 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-70
6.12.1 Connecting an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-71
6.12.2 Structure of the Position Data of the Absolute Encoder. . . . . . . . . . . . . . . 6-71
6.12.3 Output Ports for the Position Data from the Absolute Encoder . . . . . . . . . 6-71
6.12.4 Reading the Position Data from the Absolute Encoder . . . . . . . . . . . . . . . 6-72
6.12.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-76
6.12.6 Calculating the Current Position in Machine Coordinates . . . . . . . . . . . . . 6-77
6.12.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-78
6.12.8 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-79
6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . 6-80
6.13 Absolute Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-83
6.13.1 Connecting an Absolute Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 6-83
6.13.2 Structure of the Position Data of the Absolute Linear Encoder . . . . . . . . . 6-83
6.13.3 Output Ports for the Position Data from the Absolute Linear Encoder . . . . 6-84
6.13.4 Reading the Position Data from the Absolute Linear Encoder . . . . . . . . . . 6-85
6.13.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-88
6.13.6 Calculating the Current Position in Machine Coordinates . . . . . . . . . . . . . 6-89
6.13.7 Alarm Output from the Output Ports for the Position Data
from the Absolute Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-90
6.14 Software Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-91
6.14.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-91
6.14.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-91
6.14.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-91
6.15 Initializing the Vibration Detection Level . . . . . . . . . . . . . . . . . 6-93
6.15.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-93
6.15.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-94