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Torque control operation
CONTROL
4
4.2 Torque control operation
4.2.1 Torque control
Torque control is exercised to develop torque as set in the torque command. The 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.
For torque control, the motor gains speed as the motor output torque becomes greater than the motor load. Here,
set the speed restriction value so that the motor speed does not increase too high. The speed restriction value is set
in the following method. When speed restriction is not set, the speed restriction value setting is regarded as 0r/min
to disable torque control.
(Toruque control is disabled under speed restriction. (Speed control is performed.))
4.2.2 Operation transition
! When "0" is set in Pr. 7 or Pr. 8 "acceleration/deceleration time"
REMARKS
When the load is smaller than torque command, the speed increases up to the speed restriction value.
Torque control
Speed restriction
Speed restriction value is
increased up to preset value
according to the Pr.7
"acceleration time" setting.
Speed restriction value
Speed restriction value is decreased
down to zero according to the Pr.8
"deceleration time" setting.
Speed
Speed
S
tart signal
Output torque
Output torque is provided
according to the No. 3 terminal
setting.
Speed restriction
*
* Speed control is peformed during speed restriction. (thus, torque according to the command is not developed)
Speed restriction
Speed restriction value
Torque control
Limit by the torque
restriction value
150%
OFF ON
Terminal STF
10V
Speed
0r/min
O
utput torque
0
0V