YASKAWA Sigma II Series User Manual

8.9 Limiting Torque
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8
Operation
8.9.3 Torque Limiting Using an Analog Voltage Reference
Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the
T-REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during
torque control.
Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed
control.
There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute values of both +
and - voltages are input, and a torque limit value corresponding to that absolute value is applied in the forward or reverse
direction.
(1) Related Parameters
(2) Input Signals
Speed
refer-
ence
input
gain
(Pn300)
+
+
+
-
Torque reference
input gain
(Pn400)
T-REF
V-REF
Forward torque
value (Pn402)
Speed loop
gain
(Pn100)
Speed feedback
Torque limit
value
Speed
reference
Torque
reference
Reverse torque
value (Pn403)
Speed loop
integral
time
constant
(Pn101)
SERVOPACK
INFO
Parameter Meaning
Pn002
n.

1
Speed control option: Uses the T-REF terminal to be used as an external torque limit input.
When n.2 is set, the T-REF terminal is used for torque feed-forward input, but the functions cannot be used together.
Type Signal
Name
Connector
Pin Number
Name
Input T-REF CN1-9 Torque reference input
SG CN1-10 Signal ground for torque reference input
The torque limit input gain is set at parameter Pn400. Refer to 8.7.1 Setting Parameters.
 Input Specifications
• Input range:
±1 VDC to ±10 VDC/rated torque
• Maximum allowable input voltage: ±12 VDC

YASKAWA Sigma II Series Specifications

General

Brand	YASKAWA
Model	Sigma II Series
Category	Controller
Language	English