11.5 d: References
790 YASKAWA ELECTRIC SIEP C710617 05F YASKAWA AC Drive GA700 Technical Manual
■ d4-12: Stop Position Gain
No.
(Hex.)
Name Description
Default
(Range)
d4-12
(02B8)
Stop Position Gain
Sets the gain to adjust the stopping accuracy. Set this parameter when b1-03
= 9 [Stopping Method Selection = Stop with Constant Distance].
1.00
(0.50 - 2.55)
If the motor stops before the necessary stop position, increase the setting value. If the length of time for the motor
to stop is too long, decrease the setting value.
◆ d5: Torque Control
d5 parameters set the Torque Control function.
The Torque Control function controls the output torque of the motor. You can use Torque Control for roller drives,
winders, unwinders, conveyors and other machines that use tension control and push/pull applications. When
there is no more material and the machine suddenly has no load, the drive uses Torque Control and the speed limit
function to keep the rotation speed of the motor from increasing.
Set A1-02 [Control Method Selection] to one of these values to use Torque Control:
• 3 [Closed Loop Vector]
• 4 [Advanced Open Loop Vector]
• 6 [PM Advanced Open Loop Vector]
• 7 [PM Closed Loop Vector]
Note:
When you use Torque Control and A1-02 = 4, use a motor designed for winding applications.
Use one of these methods to enable Torque Control:
• Set d5-01 = 1 [Torque Control Selection = Torque Control].
• Set H1-xx = 71 [Torque Control] ON.
■ Torque Control Operation
Figure 11.71 shows the operation principle of Torque Control:
Figure 11.71 Torque Control Block Diagram
The externally input torque reference is the target value for the motor output torque. If the motor output torque
and load torque are not balanced during Torque Control, the motor accelerates or decelerates. To prevent operation
at more than the speed limit, compensate the external torque reference value if the motor speed is at the limit. The
speed limit, speed feedback, and the speed limit bias are the values that calculate the compensation value.
When an external torque compensation value is input, the drive adds that value to the speed limit compensated
torque reference value. The values L7-01 to L7-04 [Torque Limit] limit the value. The drive uses the value as the
internal torque reference. You can use U1-09 [Torque Reference] to monitor the calculated torque reference. The
torque limit values set in L7-01 to L7-04 are most important. Although you can set a higher external torque
reference from an external source, the motor will not operate a torque output higher than values set in L7-01 to
L7-04.
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