YASKAWA Sigma-II Series, User Manual

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8.7 Operating Using Torque Control
8-61
8
Operation
8.7 Operating Using Torque Control
8.7.1 Setting Parameters
The following parameters must be set for torque control operation with analog voltage reference.
8.7.2 Torque Reference Input
By applying a torque reference determined by the analog voltage reference to the SERVOPACK, the servomotor
torque can be controlled in proportion with the input voltage.
„ Checking the Internal Torque Reference
1. Checking the internal torque reference with the panel operator:
Use the Monitor Mode (Un002). Refer to 7.4 Operation in Monitor Mode (Un
†††
) .
2. Checking the internal torque reference with an analog monitor:
The internal torque reference can also be checked with an analog monitor. Refer to 9.5 Analog Monitor .
Parameter Meaning
Pn000 n.
††
2
†
Control mode selection: Torque control (analog voltage reference)
Pn400 Torque Reference Input Gain
Setting Range Setting Unit Factory Setting Setting Validation
10 to 100
(1.0 to 10.0 V/rated torque)
0.1V/rated torque 30
(3 V/rated torque)
Immediately
This sets the analog voltage level for the torque reference (T-REF) that is
necessary to operate the servomotor at the rated torque.
„
EXAMPLE
Pn400 = 30: The servomotor operates at the rated torque with 3-V input
(factory setting).
Pn400 = 100: The servomotor operates at the rated torque with 10-V
input.
Pn400 = 20: The servomotor operates at the rated torque with 2-V input.
Speed
Position
Torque
Reference voltage (V)
Reference torque
This reference voltage is set.
Rated torque
Type Signal
Name
Connector
Pin Number
Name
Input T-REF CN1-9 Torque Reference Input
SG CN1-10 Signal Ground for Torque Reference Input
Used during torque control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The torque reference gain is set in Pn400. For setting details, refer to
8.7.1 Setting Parameters .
„ Input Specifications
• Input range:
±
1 to
±10
VDC
/ra
ted torque
• Max. allowable input voltage:
±
12 VDC
• Factory setting
Pn400 = 30: Rated torque at 3 V
+3-V input: Rated torque in forward direction
+9-V input: 300% rated torque in forward direction
-0.3-V input: 10% rated torque in reverse direction
The voltage input range can be changed with parameter Pn400.
„ Input Circuit Example
Use twisted-pair wires as a countermeasure against noise.
Variable resistor example: Model 25HP-10B manufactured by Sakae
Tsushin Kogyo Co., Ltd.
Reference torque (%)
Input voltage (V)
Set the slope
with Pn400.
Factory setting
300
200
100
- 300
- 200
- 100
0 3 4 8 12
- 4 - 8 - 12
SG
T-REF
+12 V
9
10
470
Ω
2 k
Ω
SERVOPACK
1/2 W min.
CN1
INFO