5.4 d: Reference Settings206 YASKAWA ELECTRIC SIEP C710616 27G YASKAWA AC Drive A1000 Technical Manual d4-11: Bi-Directional Output SelectionSelects if the frequency reference or PID output value is converted into bi-directional internal frequency reference. Referalso to the PID block diagram in Figure 5.26 to see how bi-directional output works.Note: When used in combination with PID control, the bi-directional output function can be enabled or disabled using a digital input(H1- = 7F)Setting 0: No ConversionThe frequency reference or PID output value is used as it is without being converted. The drive will operate in thedirection selected from 0 to 100% of the maximum output frequency.Setting 1: Bi-Directional Output ConversionWhen the frequency reference or PID output is below 50%, the drive reverses the selected direction. When it is above50% the drive works in the selected direction. 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 150 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 5.53illustrates the working principle.Figure 5.53Figure 5.53 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.No. Parameter Name Setting Range Defaultd4-11 Bi-Directional Output Selection 0 or 1 0No. Parameter Name Setting Range Defaultd4-12 Stop Position Gain 0.50 to 2.55 1.00Torque 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 Limiter
