Torque Control Proportional Gain; Torque Control Integral Time - Sanken SVCO6 Instruction Manual

Note 1: In torque control, since it is controlled by fixed torque having no relationship with the speed, the speed command
will be noneffective.
Note 2: In torque control, since the motor is accelerated continuously, the speed limit value must be set. When motor has
reached the limit value, it will switch to the speed control with speed limit value as the command value.
Note 3: The speed limit value in torque control is the speed range calculated by upper frequency limit (F1007), lower
frequency limit (F1008) and motor poles (F5001). Therefore, when speed is limited beyond the upper limit and the
lower limit, the upper frequency limit and the lower frequency limit should also be changed. The upper frequency
can select the 2nd upper frequency limit (F1316) and 3rd upper frequency limit (F1317) through the switching
function of external terminals.
Reference parameter
F1002 (1st speed frequency setting selection)
F1007 (upper frequency limit)
F1008 (lower frequency limit)
F1316 (2nd upper frequency limit)
F1317 (3rd upper frequency limit)
F6117

Torque control proportional gain

The function to set the torque control proportional gain.
Code No. Function Name
F6117 Torque control proportional gain
※Typical values have been entered for each motor model.
● In factory presets, the typical values suitable for the motor must be set.
● As the adjustment target, the motor response 2000rad/s should be set as 100%.
Note: In motor control mode selection (F1001), the proportional gain is only effective when torque control (F1001=4 or 5)
is selected. When speed control (F1001=2 or 3) is selected, it will be automatically changed through the speed
control proportional gain.
Reference parameter
F1001 (motor control mode selection)
F6118

Torque control integral time

The function to set the torque control integral time.
Code No. Function Name
F6118 Torque control integral time
● Only in proportional control, the motor torque will generate static difference to the torque command value, therefore,
this function code must be set together with the integral control.
● The approximate adjustment scope is 1ms per step from the default value, make sure that the motor torque is
consistent with the command torque.
Note: When prolonging the integral time, the motor may generate vibration, therefore the setting value of this function
should not be too large.
Date Content
-
0.01 150%
Date Content
-
0 500ms
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7-3 Description of Functions
Setting Factory
Resolution Presets
0.01%
Setting Factory
Resolution Presets
0.1ms
※
50