YASKAWA U1000 iQpump Drive, Technical Manual

Page: 247 / 706

Table 5.21 Speed Limit, Speed Bias and Speed Limit Priority Selection
– Operating Conditions
Run
Command
Forward Reverse Forward Reverse Forward Reverse Forward Reverse
Torque
Reference
Direction
Positive
(Forward)
Negative
(Reverse)
Negative
(Reverse)
Positive
(Forward)
Positive
(Forward)
Negative
(Reverse)
Negative
(Reverse)
Positive
(Forward)
Speed Limit
Direction
Positive
(Forward)
Negative
(Reverse)
Negative
(Reverse)
Positive
(Forward)
Positive
(Forward)
Negative
(Reverse)
Negative
(Reverse)
Positive
(Forward)
Rotation
Direction
Forward Reverse Forward Reverse
Bidirectional
Speed Limit
Bias
(d5-08 = 0)
<1>
Speed
Torque
Torque
Limit
Internal
Torque
Reference
0
Torque
Limit
Speed
Limit
Δ
n
Speed Limit
Bias d5-05
Speed Limit
Bias d5-05
Speed
Torque
Torque
Limit
Internal
Torque
Reference
0
Torque
Limit
Speed
Limit
Δ
n
Speed Limit
Bias d5-05
Speed Limit
Bias d5-05
D
n
Speed
Torque
d5-05
Torque
Limit
Internal
Torque
Reference
0
Torque
Limit
Speed Limit
Δ
n
Speed Limit
Bias d5-05
Speed
Torque
Torque
Limit
Internal
Torque
Reference
0
Torque
Limit
Speed
Limit
Speed
Limit Bias
d5-05
Δ
n
Δ
n
Speed
Limit Bias
d5-05
Unidirectional
Speed Limit
Bias
(d5-08 = 1)
<1>
Speed
Torque
Δ
n
Torque
Limit
Internal
Torque
Reference
0
Torque
Limit
Speed
Limit Bias
d5-05
Speed
Limit
Δ
n
Speed
Torque
Torque
Limit
Internal
Torque
Reference
0
Torque
Limit
Speed Limit
Bias d5-05
Speed
Limit
Δ
n
Δ
n
Δ
n
Speed
Torque
Torque
Limit
Internal
Torque
Reference
0
Torque
Limit
Speed Limit
Bias d5-05
Speed Limit
Δ
n
Speed
Torque
Torque
Limit
Internal
Torque
Reference
0
Torque
Limit
Speed
Limit
Speed
Limit Bias
d5-05
Δ
n
Δ
n
Application
Example
Winder
Speed
Line Direction
M
Torque
M
Line Direction
Speed Torque
Unwinder
Torque
Line Direction
M
Speed
M
Line Direction
Torque Speed
<1> The value of delta n in the drawings depends on the ASR setting in parameters C5- oo .
n Indicating Operation at the Speed Limit
Program a digital output to close when the drive operates at or beyond the speed limit (H2- oo = 32). Use this output to notify
a control device such as a PLC of abnormal operating conditions.
n Switching Between Torque and Speed Control
Use a digital input to switch Torque Control and Speed Control (H1-
oo
= 71). When switching from Speed Control to Torque
Control, the torque limit becomes the torque reference and the speed reference becomes the speed limit. This change is reversed
when switching back to Speed Control.
If required by the application, set up a delay time using parameter d5-06. The reference values (torque reference/speed limit
in Torque Control or speed reference/torque limit in Speed Control) are held during this switch delay time. Change the reference
values from the controller within this delay time.
Note: 1. The switching delay time d5-06 is not applied when the Stop command is entered. Here the operation switches immediately to speed
control and the drive decelerates to stop at the torque limit.
2. Set d5-01 to 0 when switching between Torque Control and Speed Control. An oPE15 (Torque Control Setting Error) alarm will be
triggered if parameter d5-01 is set to 1 while H1- oo is set to 71 at the same time.
5.4 d: Reference Settings
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual 247
5
Parameter Details