3-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
1. Outline of mode
Torque Control Mode
Caution
(2) 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.
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.
Due to gravity and other external disturbances, the torque command from the control
-
ler output makes the motor reverse direction action, the speed limit is not valid. This
action becomes the problem, want to stop the motor, speed need to be set to Pr5.13
(Over-speed level setting) or Pr6.15 (Over-speed level setting) by Err26.0 (Overspeed
protection) or Err26.1 (second overspeed protection) will stop the motor.
• Relevant parameters
<Selection of torque command 1, 3>
Parameter
No.
Title
Range
Unit
Function
Pr3.21 Speed limit value 1
0 to 20000
r/min
Set up the speed limit used for torque
controlling.
Pr3.22 Speed limit value 2
0 to 20000
r/min
Pr3.15 Speed zero-clamp
function selection
0 to 3
—
You can set up the function of the speed
zero clamp input.
• Relevant parameters
<Selection of torque command 2>
Parameter
No.
Title
Range
Unit
Function
Pr3.02 Input gain of speed
command
10 to 2000
(r/min)
/V
Based on the voltage applied to the
analog speed command (SPR), set up the
conversion gain to motor command speed.
Pr4.22 Analog input 1 (AI1)
offset setup
−5578 to
5578
0.359 mV Set up the offset correction value applied
to the voltage fed to the analog input 1.
Pr4.23 Analog input 1 (AI1)
filter
0 to 6400
0.01 ms
Set up the time constant of 1st delay filter
that determines the lag time behind the
voltage applied to the analog input 1.
Pr3.15 Speed zero-clamp
function selection
0 to 3
—
You can set up the function of the speed
zero clamp input.
For details of these parameters, refer to
P.4-6 to P.4-85
“Details of parameter”.
Note
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