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Torque control by Real sensorless
vector control, vector control
4
PARAMETERS
4.5.2 Setting procedure of Real sensorless vector control (torque control)
CAUTION
⋅ Make sure to perform offline auto tuning before performing Real sensorless vector control.
⋅ The carrier frequencies are selectable from among 2k, 6k, 10k, 14kHz for Real sensorless vector control.
⋅ Torque control cannot be performed in the low speed (approx. 10Hz or less) regeneration range and with light load at low speed
(approx. 20% or less of rated torque at approx. 5Hz or less). Choose vector control.
⋅ Performing pre-excitation (LX signal and X13 signal) under torque control may start the motor running at a low speed even when
the start command (STF or STR) is not input. The motor may run also at a low speed when the speed limit value = 0 with a start
command input. Perform pre-excitation after making sure that there will be no problem in safety if the motor runs.
⋅ Do not switch between the STF (forward rotation command) and STR (reverse rotation command) during operation under torque
control. Overcurrent trip (E.OC) or opposite rotation deceleration fault (E.11) occurs.
⋅ For the 0.4K to 3.7K, the speed deviation may become large at 20Hz or less and torque may become insufficient in the low speed
region under 1Hz during continuous operation under Real sensorless vector control. In this case, stop the inverter once, then
start again to improve.
⋅ When the inverter is likely to start during motor coasting under Real sensorless vector control, set to make frequency search of
automatic restart after instantaneous power failure valid (Pr. 57 ≠ "9999", Pr. 162 = "10").
⋅ Enough torque may not be generated in the ultra-low speed range less than approx. 2Hz when performing Real sensorless
vector control.
The guideline of speed control range is as shown below.
Driving: 1:200(2, 4, 6 poles) Can be used at 0.3Hz or more at rated 60Hz
1:30(8, 10 poles) Can be used at 2Hz or more at rated 60Hz
Regeneration: 1:12(2 to 10 poles) Can be used at 5Hz or more at rated 60Hz
Sensorless
Sensorless
Sensorless
Test run
Perform secure wiring.
(Refer to page 14.)
Set the motor. (Pr. 71)
(Refer to page 187.)
Set the torque command. (Pr. 804)
(Refer to page 125.)
Set the speed limit. (Pr. 807)
(Refer to page 127.)
Perform offline auto tuning. (Pr. 96)
(Refer to page 189.)
Select a control method.
(Refer to page 92)
As required
⋅ Select online auto tuning. (Pr. 95) (Refer to page 199.)
⋅ Manual input torque control gain adjustment (Refer to page 130)
Set either "11" (torque control) or "12" (speed-torque switchover) in
Pr. 800 and make torque control valid.
Set the motor capacity and the number of motor poles. (Pr. 80, Pr. 81)
(Refer to page 92.)
Set "3" (standard motor) or "13" (constant torque motor) in Pr. 71
Applied motor.
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).)