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5. PARAMETERS
5.4 Torque control under Real sensorless vector control and Vector control
5.4.4 Torque command
For torque control selection, the torque command source can be selected.
*1 The setting is available when the FR-A8AL is installed.
Control block diagram
• When the torque command exceeding the torque limit value (Pr.22, Pr.810, Pr.812 to Pr.817) is given, the output torque is
within the torque limit value. (Refer to page 263.)
SensorlessSensorlessSensorless
Pr. Name
Initial
value
Setting range Description
432
D120
*1
Pulse train torque
command bias
0% 0 to 400%
For 0 pulses/s, set the torque to be used during stall prevention
operation.
433
D121
*1
Pulse train torque
command gain
150% 0 to 400%
For 400k pulses/s, set the torque command to be used during stall
prevention operation.
801
H704
Output limit level 9999
0 to 400% Set the torque current limit level.
9999 The torque limit setting value is used for limiting the torque current level.
803
G210
Constant output range
torque characteristic
selection
0
0, 10 Constant motor output command
In the torque command setting,
select torque command for the
constant output area .
1, 11 Constant torque command
2
The torque is constant unless the
output limit of the torque current is
reached. (The torque current is
limited.)
804
D400
Torque command
source selection
0
0 Torque command given by analog input via terminal 1
1
Torque command (-400% to 400%) given by the parameter setting
(Pr.805 or Pr.806)
2 Torque command given by the pulse train input (FR-A8AL)
3
Torque limit through the CC-Link/CC-Link IE Field Network
communication (FR-A8NC, FR-A8NCE, FR-A800-GF)
Torque command given through PROFIBUS-DP communication (FR-
A8NP)
4 12/16-bit digital input (FR-A8AX)
5 Torque limit through the CC-Link/CC-Link IE Field Network
communication (FR-A8NC, FR-A8NCE, FR-A800-GF)
Torque command given through PROFIBUS-DP communication (FR-
A8NP)
6
805
D401
Torque command value
(RAM)
1000% 600 to 1400%
Writes the torque command value in RAM. Regards 1000% as 0%, and
set torque command by an offset of 1000%.
806
D402
Torque command value
(RAM, EEPROM)
1000% 600 to 1400%
Writes the torque command value in RAM and EEPROM Regards
1000% as 0%, and set torque command by an offset of 1000%.
1114
D403
Torque command
reverse selection
1
0 Not reversed Select whether to reverse the
torque command polarity or not
when the reverse rotation
command (STR) is turned ON.
1 Reversed
+
-
-
Parameter [Pr. 805, Pr. 806]
16-bit digital input
(FR-A8AX)
Speed limit input
Speed control
(proportional control)
Analog input
0
1,3,5,6
4
[Pr. 804] Torque command
source selection
Torque control
+
Motor
Speed
estimated
value
Real sensorless vector control
Vector control
Speed
estimated
value
Speed estimator
Encoder
<Speed limit value
Speed limit value
Pulse train input
(FR-A8AL)
2
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