User manual

10 Functions and operations in the speed control mode
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Step 2 Limiting the torque
Turning the TL input ON while positioning operation is in progress will limit the maximum output torque by
the torque limit value you have set.
Example of limiting the torque using operation data Nos. 1 and 2
10 ms or less10 ms or less10 ms or less
2 ms or less∗2 ms or less ∗2 ms or less
TL input
ON
OFF
M0 to M1 input
ON
OFF
TLC output
Torque limit
Detected torque
ON
OFF
Torque
300%
0%
∗ The specific time varies depending on the load condition and gain.
Note
If the parameter for operation selection after stopping in speed control mode [SyS-1-02] is
set to “Free,” take note of the following point:
If the TL input is turned ON when the torque limit value is set to 0%, the motor will lose its
holding torque. Even if an operation command is input in this condition, the motor will not
operate, but the command position will still be refreshed. Turning the TL input OFF in this
condition will disable the torque limit function and the motor may move to the command
position at the maximum torque. Exercise caution when no external potentiometer or
external DC voltage is connected or when the digital setting is 0%.
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Enabling the torque limit function: TL input
When the TL input is turned ON, the torque limit function will be enabled and the maximum output torque of
the motor will be adjusted to the specified torque limit value.
While the TL input is OFF, the torque limit function is disabled and the maximum output torque of the motor
remains 300% (the rated torque corresponds to 100%).
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Notifying that the torque is being limited: TLC output
When the specified torque limit value is reached, the TLC output will turn ON.
10.5 Gain tuning
The motor compliance with respect to commands can be adjusted according to the load inertial and
mechanical rigidity.
You can also tune the motor in the semi-auto or manual mode in situations where the positioning time must be
shortened, or when automatic tuning is difficult due to a large or fluctuating load inertial moment.
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Selecting the tuning mode
Gain tuning can be performed in three modes. Select a desired tuning mode using the application parameter
for gain tuning mode selection [APP-0-00]. Automatic tuning supports an adjustment range of up to 50 times
the rotor inertial moment, while manual tuning supports an adjustment range of up to 100 times.
Automatic: The load inertial moment is estimated internally by the driver. Simply set the mechanical rigidity
and the gain will be adjusted automatically.
Semi-auto: Set the mechanical rigidity and load inertial moment ratio, and the gain will be adjusted
automatically.
Manual: The customer must set the gain directly. Select this mode when the load inertia is large or the
response needs to be increased above the level achievable by automatic tuning.