Instruction manual

Torque control operation

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 limit value so that the motor speed does not increase too high. The speed limit value is set in the

following method.

When speed limit is not set, the speed limit value setting is regarded as 0r/min to disable torque

control.

(Torque control is disabled under speed limit. (Speed control is performed.))

4.2.2 Operation transition

z 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 limit value.

Torque control

Speed limit

Speed limit value is

increased up to preset value

according to the Pr.7

"acceleration time" setting.

Speed limit value

Speed limit value is decreased

down to zero according to the Pr.8

"deceleration time" setting.

Speed

Start signal

Output torque

Output torque is provided

according to the terminal 3

setting.

Speed limit

* Speed control is peformed during speed limit. (thus, torque according to the command is not developed)

Speed limit

Speed limit value

Torque control

Limit by the torque

limit value

150%

OFF ON

Terminal STF

10V

Speed

0r/min

Output torque