No. SX-DSV02472 -
42-
4-4 Torque control
Torque control is performed based on the torque command object of the EtherCAT communication which is input
from the host controller.
This describe the basic configuration when using the torque control.
Torque control is required in addition to the torque command speed limit command. Control the rotational speed of
the motor so that the value does not exceed the speed limit.
Note) When a torque command is given so that 0 is routed through like a positive value to negative value or negative value to
positive value while torque filter is valid, torque may not be controlled according to the torque slope and torque filter
settings.
As torque control mode, there is a Profiles torque control (tq) and Cyclic synchronous torque control(cst).
For details, refer to Technical Reference, SX-DSV02473” Section 6-8”, EtherCAT communication specification.
4-4-1 Speed limit function
The speed limit is one of protective functions used during torque control.
This function regulates the motor speed so that it does not exceed the speed limit while the torque is controlled.
Note: While the speed limit is used to control the motor, the torque command applied to the motor is not directly
proportional to the analog torque command. Torque command should have the following result.: the motor
speed is equal to the speed limit.
■ Parameters
Class
No.
At-
trib-
ute *1)
Title
Range
Unit
Function
3
17
B
Speed limit
select
2
—
Set up the selection method of the speed limit used for torque
controlling.
Setting value
Speed limit value
2
6080h (Max motor speed)
With this amplifier, it becomes 2 fixation.
*1) For parameter attribute, refer to Section 9-1.
Host
controller
Servo driver
Torque
control
section
Torque
command
(EtherCAT
communication)
Torque
command
generation &
processing
section
EtherCAT
communication
processing
section
V-LIMIT/V_LIM
output function
V-LIMIT
(External output
signal)
speed limit
command
(EtherCAT
communication)
CoE(CiA402) Processing unit
Motor control
Processing
unit
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
