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Chapter 6. Function Description (CON)
6.5.8 Torque Control
One mode among the speed control mode and torque control mode can be set at CON_01( ‘Control Mode’). The
default is the speed control mode. Control mode can be selected using the multi-function terminal input set to
‘Speed/Torque control selection’. This method has a priority over the one by CON_01.
(Setting example)
Programming P6 as Torque control
Code
LCD display
Description
Setting range
Unit
Setting
I/O_06
P6 define
Multi-function input terminal
P6 definition
Spd/Trq sel
CON_01
Control Mode
Control mode setting
Speed
Torque
Torque
1) CON_26 (Torque Reference Source Selection)
In the speed control mode, the output of the ASR acts as the torque reference. In the torque control mode, the
torque reference is set by the analog input signal defined as ‘Trq Ref Src’ on the control circuit terminal or by the option
board and the polarity is reversed if the direction of the speed command is changed. If the analog input is used as the
torque reference, the analog input ranging from –10V to 10V is converted to the percentage of the rated torque (-
100~100%) to obtain the torque reference, which can set from –250% to 250% by the settings of Gain and Bias.
CON_27 “Torque Ref” defines torque ref. value when torque source is set to Keypad.
Code
LCD display
Description
Setting range
Unit
Factory setting
CON_26
Trq Ref Src
Torque reference source
selection
None/Analog
Keypad/Option
None
CON_27
Torque Ref
Torque Ref (keypad)
-180.0 ~180.0
%
0.0
2) CON_32 (Torque Bias Source Select)
The Torque Bias is the feedforward compensation which is added to the Torque Reference. The source of Torque Bias
could be selected by the Keypad (CON_32) as one of Multi Function Analog Input and the Option. The Torque Bias is
enabled by MFi programmed as UseTrq Bias. The MFI should be ON for enabling the Torque Bias.
The Analog Input [-10~+10V] is converted to [-100~+100%] and this could be expanded up to [-250~+250%] with
gain and bias.
Code
LCD display
Description
Setting range
Unit
Factory setting
CON_32
Trq Bias Src
Torque Bias source
selection
None
Analog
Keypad
Option
None
CON_33
Trq Bias
Torque Bias quantity
-150.0 ~ 150.0
%
0.0