Instruction manual

39
Torque control operation
CONTROL
4
(1) I/O signals
The following table indicates the operations of the signals.
(2) Operation example (Pr. 804 = 0)
Torque control is enabled if the actual speed is less than the speed limit value.
When the actual speed reaches or exceeds the speed limit value, speed limit operation starts, torque control is
stopped, and speed control (proportional control) starts.
The following shows the operations in response to the analog input command from the terminal 3.
1) When STF is turned on, the speed limit value is increased according to the time set in Pr. 7.
2) Torque control operation is performed when the actual speed is less than the speed limit value.
3) When the STF start signal is turned off, the speed limit value is decreased according to the time set in Pr. 8.
4) For torque control, the actual speed becomes constant when the torque command and load torque are
balanced.
5) The motor torque developing direction is determined by the combination of the torque command input polarity
and start signal as indicated in the following table.
Signal Terminal Name Remarks
Start signal
External operation STF, STR signal
Start and stop are the same as under speed
control. A stop is made when the STF and
STR signals are both on.
PU operation
Forward or reverse rotation from
PU04V or DU04
-1
Torque command As set in the torque command source selection parameter. Input torque command.
Speed limit As set in the speed limit selection parameter.
Display SL and output OL signal during speed
limit.
Torque Command Polarity
Torque Developing Direction (Mode)
STF signal ON STR signal ON
Positive torque command
Forward rotation direction (forward rotation
driving/reverse rotation regeneration)
Reverse rotation direction (forward rotation
regeneration/reverse rotation driving)
Negative torque command
Reverse rotation direction (forward rotation
regeneration/reverse rotation driving)
Forward rotation direction (forward rotation
driving/reverse rotation regeneration)
REMARKS
When speed limit operation starts, speed control is exercised to enable internal torque limit (Pr. 22 "torque limit level) (factory
setting). Speed control may not be returned to torque control in this case. Torque limit be set to external torque limit (terminals
3, 1 and 6 (option FR-V5AX)).
(Refer to Pr. 803 "constant power range torque characteristic selection" (page 34).)
STF
(Forward rotation
command)
Pr. 7
RH
(Speed limit)
Speed limit value
Torque control operation
Speed limit
operation
(Speed control)
Torque
control
operation
Pr. 8
Speed limit
operation
Speed limit
operation