5.4 d: Reference Settings188 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual■ d4-12: Stop Position GainSets the gain for adjusting the stopping accuracy when simple positioning is selected as the stopping method (b1-03 = 9).Increase the value if the motor stops before the desired stop position is reached. Decrease it if the motor stops too late.Also refer to b1-03: Stopping Method Selection on page 138 for details on simple positioning.◆ d5: Torque ControlTorque Control is available for CLV and CLV/PM (A1-02 = 3, 7). It allows to define a setpoint for the torque producedby the motor.■ Torque Control OperationTorque control can be enabled either by setting parameter d5-01 to 1 or by a digital input (H1- = 71). Figure 5.50illustrates the working principle.Figure 5.50Figure 5.50 Torque Control Block DiagramThe externally input torque reference is used as the target value for the motor output torque. If the motor torque referenceand the load torque are not in balance when in Torque Control, the motor accelerates or decelerates. An operation beyondthe speed limit is prevented by compensating the external torque reference value if the motor speed reaches the limit. Thecompensation value is calculated using the speed limit, speed feedback, and the speed limit bias.If an external torque compensation value is input, it is added to the speed limit compensated torque reference value. Thevalue calculated is limited by the L7- settings, and is then used as the internal torque reference, which can bemonitored in U1-09. The L7- settings have highest priority, i.e., the motor cannot be operated with a higher torquethan the L7- settings, even if the external torque reference value is increased.■ Setting the Torque Reference, Speed Limit, and Torque Compensation ValuesTorque Control Reference SourcesInput values for Torque Control can be set like explained in Table 5.18.Table 5.18 Torque Control Input Value SelectionNo. Parameter Name Setting Range Defaultd4-12 Stop Position Gain 0.50 to 2.55 1.00Input Value Signal Source Settings RemarksTorque ReferenceAnalog inputs A1/A2/A3 H3-02, H3-06, or H3-10 = 13 <1>Make sure the signal level settings for the input terminal selectedmatch the signal used. Refer to H3: Multi-Function Analog Inputson page 234 for details on adjusting analog input signals.Analog Option Card • F2-01 = 0• H3-02, H3-06, or H3-10 = 13 <1>The F3- settings become effective for the option board inputterminals. Make sure the signal level settings for the input terminalselected match the signal used. Refer to H3: Multi-FunctionAnalog Inputs on page 234 for details on adjusting analog inputsignals.MEMOBUS Register 0004h Set Register 000Fh, Bit 2 = 1 to enable Torquereference from register 0004h –Communication Option CardF6-06 = 1Refer to the option card manual for details aboutsetting the torque compensation value.–Torque CompensationExternal Torque ReferenceExternal Speed LimitSpeed Limit set in d5-04Speed FeedbackSpeed Limit Bias d5-05SoftStarter d5-0312C1- , C2-Torque Reference Delayd5-02TorqueLimitsL7-Internal TorqueReference+Compensated torquereferenced5-08+U1-09Speed Limitercommon_TMonly
