Setting the Torque Reference, Speed Limit, and Torque Compensation Values

Torque Control Input Value Selection

Table 1 lists the method for torque control input signals.

Table 1. The Method for Torque Control Input Signals
Configuration Parameter	Signal Input Method	Parameter Settings	Notes
Torque Reference	Drive analog input terminals A1, A2, A3	H3-02, H3-10, H3-06 = 13 [MFAI Function Select= Torque Reference / Torque Limit]¹	The level of the set input signal must align with the polarity of the external signals.
	Analog reference option cards AI-A3	F2-01 = 0 [Analog Input Function Selection = 3 Independent Channels] H3-02, H3-10, and H3-06 = 13¹	H3-02, H3-10, or H3-06 settings are enabled for the option card input terminal. The level of the set input signal must align with the polarity of the external signals.
	MEMOBUS register 0004H	b1-01 = 2 [Frequency Reference Selection 1 = Memobus/Modbus Communications] When register bit 2 of 000FH = 1, the torque reference and torque limit from register 0004H is enabled.	-
	Communication option card	b1-01 = 3 [Option PCB] F6-06 = 1 [Torque Reference/Limit by Comm = Enabled] Refer to the communication option card manual for more information about the torque reference setting.	-
Speed Limit	Frequency Reference Selection (Reference source selected with b1-01)	d5-03 = 1 [Speed Limit Selection = Active Frequency Reference] The drive gets the speed limit from the frequency reference source input in b1-01 or b1-15 [Frequency Reference Selection 2].¹	The drive applies the settings in C1-01 to C1-08 [Acceleration/Deceleration Times] and C2-01 to C2-04 [S-Curve Time @ Start/End of Accel/Decel] to the speed limit.
Speed Limit	d5-04 [Speed Limit]	d5-03 = 2 [d5-04 Setting]	-
Torque Compensation	Drive analog input terminals A1, A2, A3	H3-02, H3-10, or H3-06 = 14 [Torque Compensation]¹	The level of the set input signal must align with the polarity of the external signals.
	Analog reference option cards AI-A3	F2-01 = 0 H3-02, H3-10, or H3-06 = 14¹	H3-02, H3-10, or H3-06 settings are enabled for the option card input terminal. The level of the set input signal must align with the polarity of the external signals.
	MEMOBUS register 0005H	b1-01 = 2 When register bit 3 of 000FH = 1, the torque reference and torque limit from register 0005H is enabled.	-
	Communication option card	b1-01 = 3 Refer to the communication option card manual for more information about the torque reference setting.	-

Input Signal Polarity

The positive and negative torque references set the motor rotation direction. The direction of the Run command does not set it. The positive and negative torque reference signals and the direction of the Run command have an effect on the internal torque reference.

Table 2. Torque Control Signal Polarity
Run Command Direction	Torque Reference Signal Polarity	Direction of Motor Rotation	Polarity of the Internal Torque Reference [U1-09]
Forward run	+ (Positive)	Forward direction	+ (Positive)
Forward run	- (Negative)	Reverse direction	- (Negative)
Reverse run	+ (Positive)	Reverse direction	- (Negative)
Reverse run	- (Negative)	Forward direction	+ (Positive)

Note:

For Yaskawa motors, the forward run direction is counterclockwise direction when seen from the load shaft.

When you use analog inputs, you can get negative input values with these methods:

Apply negative voltage input signals.
Use positive voltage input signals and set the analog input bias to negative values.
Apply positive voltage input signals and use a digital input programmed for Analog TorqueRef Polarity Invert [H1-xx = 78].

When you use MEMOBUS/Modbus communication or a communication option card, set the positive or negative signed torque reference.

When the level of the analog signal input is 0 V to 10 V or 4 mA to 20 mA, the torque reference is the forward direction. To reverse the polarity of the torque reference, use one of these two methods:

Use a -10 V to +10 V voltage input
Set H1-xx = 78 [MFDI Function Select = Analog TorqueRef Polarity Invert].

Sets analog input terminals A1, A2, and A3 to supply the speed limit, torque reference, or torque compensation. If you set the same function to A1 to A3 terminals with H3-02, H3-10, or H3-06, the drive will detect oPE07 [Analog Input Selection Error].