4-199
Figure 4.3.121 Block figure of the torque control
(2) Torque setting
(a)Torque command (Tref) input (AI2: 04-05).
. Torque command (Tref) can not be set by the digital operator. It can be adjusted
by the multi-function analog input (AI2) through setting 04-05 (AI2 function
selection) to 15 (torque) or 16 (torque compensation)
─ The torque output direction of the motor depends on the minus or plus sign of
the analog input signal (AI2) rather than depend on the direction of the
operation command.
─Since the analog input signal AI2 determines the direction, the signal is
positive voltage (or positive current), and a forward torque signal can be
inputted. (Motor output shaft is counterclockwise).
─To use the function of the negative torque, it is required to set one parameter
of multi-function digital inputs from 03-00 to 03-07 to 45 (negative torque
command), and set the corresponding digital input terminal to ON. (Motor
output shaft is in clockwise direction)
Table 4.3.16 Torque input method
Input
method
Input terminal
Related parameter
setting
Description
04-00=0,2 Terminal AI2 signal level : 0 - 10V voltage
input
(0 -10V)
AI2
(SW1-2=” V ”)
04-05=15
AI2 as torque input
04-00=1,3 Terminal AI2 signal level : 4 - 20mA current
input
(4 - 20mA)
AI2
(SW1-2=” I ”)
04-05=15
AI2 as torque input
(
3)Torque filter time (21-01).
Time constant is used to eliminate the interference of the torque signal and adjust the
response.
If the system instability occurs in control period, increase the set value.
(4) Speed limit input setting（21-02 and 21-03）.
. If the external torque reference and the load are imbalance in the period of torque
control, the motor will accelerate endlessly, and the speed limit function can be used
to limit the motor speed to avoid damaging the system or the structure.
. There are two ways to set the speed limit, parameter setting or analog input setting.
Refer to the following table 4.3.17 for the speed limit input method.
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