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Gain adjustment for torque control
2.6.3 Troubleshooting
For online auto tuning, refer to the Instruction Manual (basic)
Phenomenon Cause Corrective Action
1
Torque control is not
exercised normally.
(1) The phase sequence of the
motor or encoder wiring is
wrong.
(1) Check the wiring. (Refer to the Instruction Manual
(basic).)
(2) The control mode selection, Pr.
800, setting is improper.
(2) Check the Pr. 800 setting. (The factory setting is
speed control)
(3) The speed limit value is not
input.
(3) Set the speed limit value. (If the speed limit value
is not input, the motor will not rotate since the
speed limit value is regarded as 0r/min.)
(4) The torque command varies. (4) Check that the command device gives a correct
torque command.
Decrease the PWM carrier frequency in Pr. 72.
Increase the torque setting filter in Pr. 826.
(5) Torque variation due to the
change in the motor
temperature.
(5) Set the adaptive magnetic flux observer in Pr. 95.
(6) The torque command does not
match the inverter-recognized
value.
(6) Recalibrate the torque command bias and gain in
Pr. 904 and Pr. 905.
2
When the torque
command is small, the
motor rotates in the
direction opposite to the
start signal.
The offset calibration of the torque
command does not match.
Recalibrate the torque command bias in Pr. 904.
3
Normal torque control
cannot be exercised
during acceleration/
deceleration.
The motor vibrates.
Since the speed limit value
changes with the setting of the
acceleration/deceleration time in
Pr. 7, Pr. 8, the speed limit may be
activated. (When the speed limit is
activated, torque control cannot be
exercised.)
Reduce the acceleration/deceleration time.
Alternatively, set the acceleration/deceleration time to
0. (Speed limit during acceleration/deceleration is
speed limit during constant speed)
4
Output torque is not linear
in response to the torque
command.
Insufficient torque. Return the excitation ratio to the factory setting.
Related parameter reference pages
• Pr. 7 "acceleration time" (Refer to page 78.)
• Pr. 8 "deceleration time" (Refer to page 78.)
• Pr. 800 "control system selection" (Refer to page 169.)
• Pr. 802 "pre-excitation selection"
(Refer to page 82.)
• Pr. 810 "torque limit input method selection" (Refer to page 87.)
• Pr. 826 "torque setting filter 1" (Refer to page 176.)
• Pr. 904 "torque command terminal 3 bias" (Refer to page 190.)
• Pr. 905 "torque command terminal 3 gain" (Refer to page 190.)