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4
DRIVING THE MOTOR
Before operation
<Selection method of torque control>
zTorque control is exercised to develop torque as set in the torque command.
zThe motor speed becomes constant when the motor output torque and load torque are balanced.
For torque control, therefore, the speed is determined by the load.
zFor torque control, the motor gains speed as the motor output torque becomes greater than the motor load.
To prevent overspeed, set the speed limit value so that the motor speed does not increase too high.
(Speed control is exercised during speed limit and torque control is disabled.)
zWhen speed limit is not set, the speed limit value setting is regarded as 0Hz to disable torque control.
CAUTION
⋅ The carrier frequencies are selectable among 2k, 6k, 10k, and 14kHz for vector control.
Test run
Perform secure wiring. (Refer to page 31.)
Set the motor and encoder. (Pr. 71, Pr. 359, Pr. 369)
As required
· Perform offline auto tuning. (Pr. 96) (refer to page 71).
· Select online auto tuning. (Pr. 95) (refer to page
76).
· Manual input torque control gain adjustment (refer to Chapter 4 of the Instruction Manual (Applied))
Set the motor capacity and the number of motor poles. (Pr. 80, Pr. 81)
(Refer to page 66.)
Set the motor capacity (kW) in
Pr. 80
Motor capacity
and set the number
of motor poles in
Pr. 81
Number of motor poles
.
(V/F control is performed when the setting is "9999" (initial value).)
Mount the FR-A7AP/FR-A7AL (option).
Set
Pr. 71 Applied motor
,
Pr. 359 Encoder rotation direction
and
Pr. 369
Number of encoder pulses
according to the motor and encoder used.
(Refer to page 33.)
Select a control method. (Refer to page 66.)
Set either "1" (torque control), "2" (speed-torque switchover) or "5"
(position-torque switchover) in
Pr. 800
and make torque control valid.
Set the torque command. (Pr. 804)
(Refer to Chapter 4 of the Instruction Manual (Applied).)
Set the speed limit. (Pr. 807)
(Refer to Chapter 4 of the Instruction Manual (Applied).)