YASKAWA SGDS Sigma III Series, Руководство пользователя

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6.3 Main Commands
6-39
6.3.31 Torque Control (TRQCTRL: 3DH)
• Related Parameters
• Speed Reference Option Operation
Byte TRQCTRL Description
Command Response
1 3DH 3DH Processing
classifications Motion command
group Synchronization
classifications Asynchronous
2 ALARM Processing time Within communi-
cations cycle Subcommand Can be used
3 OPTION STATUS • The Servo does not perform position control and speed control, but directly
performs torque control.
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the
following cases.
- During phases other than phases 2 and 3: Command warning 1 (A.95A)
• OPTION field can be used. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• TOREF
TOREF is a torque reference and has signed 4 bytes of data. The unit for
torque reference is [maximum motor torque/40000000H]. The direction is
specified by the sign.
When the designation for TOREF is larger, it is clamped at the maximum
torque.
• During execution of this command, the following bits of STATUS are
allocated.
D11: V_LIM (speed limit bit)
0: Speed limit not detected
1: Speed limit detected
• MONITOR1, 2, 3, 4 (monitor)
The unit for torque is [maximum motor torque/40000000H].
• Setting the speed reference option (VLIM)
Setting range: 0 to 40000000H (maximum motor speed/40000000H)
Refer to
on page 6-39 .
4
5
VLIM MONITOR1
6
7
8
9
TQREF MONITOR2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16
WDT RWDT
17 For
subcommands
use. Refer to
6.4
Subcommands
.
For
subcommands
use. Refer to
6.4
Subcommands
.
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn407 Speed Limit at Torque Control
Parameter Description
Pn002 n. 0 VLIM is not available.
Set VLIM to 0.
n. 1 VLIM operates as the speed limit value.