4-300
The relationship among Tref (torque reference), NLmt (speed limit) and N (motor speed) is shown below when
used in winding operation and roll-out operation.
Operations Winding operation Unwind operation
T-N curve
Operation
direction
Forward Reverse Forward Reverse
Tref
( Torque
reference)
+ − − +
N
Lmt
( Speed limit )
+ − + −
Architecture
Figure 4.4.126 Winding and roll-out operations
Torque compensation
Torque compensation is used to compensate for torque loss due to mechanical damage or other losses.
Multi-function analog input AI2 can used for torque compensation (04-05 = 16, 04-07/08 Gain/ Bias).
Set the appropriate signal level for the torque compensation. The torque compensation direction is based on the
analog signal polarity, not by the direction of the run command.
When Tcomp is fixed at a positive voltage (or current) results in a positive torque compensation (the rotation of
motor shaft is counterclockwise).
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