YASKAWA SVC - Page 99

3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
3-46
Torque Reference
 Torque/Force Reference Setting or Torque Feedforward Compensa-
tion
This meaning of this subcommand depends on the motion command.
• When the TRQ (Issue Torque/Force Reference) motion command is executed, set the torque
reference. Refer to the following section for details.
TRQ (Issue Torque/Force Reference) on page 4-94
• When the INTERPOLATE (Interpolation), VELO (Issue Speed Reference), or PHASE (Issue
Phase Reference) motion command is executed, set the torque feedforward compensation.
Setting Precautions
The unit that is set in the Torque Unit Selection bits (OW03 bits C to F) is used for this
parameter.
 Speed Limit for Torque/Force Reference
Set the speed limit as a percentage of the rated speed when the TRQ (Issue Torque/Force Ref-
erence) motion command is executed.
Torque control is used to control the Servomotor to output the specified torque. It does not
control the motor speed. Therefore, when an excessive reference torque is set relative to the
load torque of the machine, the machine’s torque is overpowered by the torque reference and
the motor speed rapidly increases.
The torque reference speed limit serves to limit the Servomotor speed during torque control to
protect the machine.
Setting Precautions
This parameter setting is used when the TRQ command is executed.
Related Parameters
Pn002 = n.
 x  , Pn407, and Pn408 = n.  x  SERVOPACK parameters
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OL0C
Torque/Force Reference Setting
or Torque Feedforward Compen-
sation
-2
31
to 2
31
−1
The unit that
is set in the
Torque Unit
Selection bits
is used.
0
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW0E
Speed Limit for Torque/Force
Reference
-32,768 to
32,767
0.01% 15,000
SVC SVR
Position
Speed
Phase
Torqu e
SVC
Torqu e
0
t
No Speed Limit
High acceleration
may damage the
machine.
Speed
Maximum speed
0
t
Speed Limit Specified
Speed
Maximum speed
Speed limit
Safe because of
the speed limit.