Maxsine EP3 AC Series, Руководство пользователя

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4.4 Torque control mode
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4.4.4 Speed limitation in torque control mode
In torque control mode, the torque output of the servomotor is controlled by torque command,
but the speed of the servomotor is not controlled. Therefore, an over speed may occur if in light
loading. The speed must be limited to protect the machinery. The parameters related to the speed
limitation are:
Param
eter
Name Range
Default
value
Unit
Usag
e
P077 Selection of speed limit 0 ～ 2 0 T
P078 Speed limit in torque control 0 ～ 5000 3000 r/min T
P079 Speed limit error in torque control 1 ～ 5000 100 r/min T
When appears over speed, use a negative speed feedback to reduce the actual torque and
thus to reduce the actual speed. However, the actual speed can be higher than the limited value
slightly. The value of the negative speed feedback is set by the parameter P079. The smaller the
value of P079, the greater effect on the negative feedback can be and the steeper of limit speed
curve shows. Therefore, the quantity of over speed is smaller, but the vibration becomes larger.
In torque control mode, there are three kind of speed limitation as the following:
P077 Explanation Interpret
0 Basic limit Limited by parameter P078.
1 Basic limit +Analog limit Except basic limit, it is also limited by analog
speed command.
2 Basic limit +Internal speed
limit Except basic limit, it is also limited by internal
speed command. The internal speed command is
determined by SP1, SP2, and SP3 from DI inputs.
Note: 1. Speed limitation is not related to the rotation direction.
2. If many limits occur, the final limitation value will be the smallest value.
3. Even if the setting value greater than the permission maximum speed of the system,
but the operation also can limit in the maximum torque range.
4. The internal speed command is determined by SP1, SP2, and SP3 from DI inputs.