Omron SYSDRIVE RV Series User Manual page 374

Torque compensation
from analog input
Torque reference
from analog input
Speed limit from analog
input from terminal A1
Speed limit
d5-04
Speed limit bias
d5-05
Speed feedback
Speed Limiter and Priority Circuit (Speed Limit Function)
If the external torque reference and load are not balanced during torque control, the motor will accelerate in
either the forward or reverse direction. The speed limit function is used to limit the speed to a specified value
and it consists of the speed limiter circuit and priority circuit.
When the motor speed exceeds the speed limit value during torque control, the speed limiter circuit generates
the suppression torque proportional to the speed above the limit value and adds to the torque reference. The
priority circuit switches the internal torque reference to ASR output so that the motor speed does not exceed
the speed limit value.
Application Precautions
There are two ways to set a speed limit: using an input from an analog input terminal and setting a speed limit
in d5-04. The inputs methods for a speed limit are listed in the following table.
Speed Limit Input Method
Voltage input (−10 to 10 V)
Current input (4 to 20 mA)
Option board (3G3IV-PAI14B)
(−10 to 10 V)
IMPORTANT
-166
6
Torque primary delay
filter d5-02
1
+
Speed controller
−
2
d5-03
Speed limiter
Fig 6.83 Torque Control Block Diagram
Location of Refer-
Set in d5-04
Between A1 and AC
Between A2 and AC
Between A2 and AC
Between TC1 and TC4
The direction in which speed is controlled is determined by the sign of the speed limit signal and the direction
of the Run Command.
• Positive voltage applied: The speed in the forward direction will be limited for forward operation.
• Negative voltage applied: The speed in the reverse direction will be limited for reverse operation.
If the direction of motor rotation and the command direction are not the same, speed will be limited to 0 as
long as b5-05 is set to 0.
Priority
circuit
(ASR)
Parameter
ence Settings
d5-03 = 2
b1-01 = 1
H3-01 = 1
b1-01 = 0
H3-08 = 1
H3-09 = 1
b1-01 = 0
H3-08 = 2
H3-09 = 1
b1-01 = 3
F2-01 = 0
+
Internal torque
Torque limit
reference
+
+
Refer to torque limit setting
via constants and analog input
Remarks
-
Set H3-01 to 0 if the speed limit is always
to be positive.
The value will be added to the value input
on A1 to determine the speed limit.
Set H3-03 to 0 if the speed limit input on
A2 is always to be positive.
Turn OFF (V side) pin 2 of DIP switch S1
on the terminal board.
The value will be added to the value input
on A1 to determine the speed limit.
Turn ON (I side) pin 2 of DIP switch S1
on the terminal board.
If H3-09 is set to 0, the sum of the input
between TC2 and TC4 will be added the
input between TC1 and TC4 to determine
the speed limit.