In the shown configuration, par. H-41 Motor Control Principle is set to "Flux w motor feedb [3]" and par. H-40 Configuration Mode is set to "Speed closed loop [1]".

The motor control in this configuration relies on a feedback signal from an encoder mounted directly on the motor (set in par. H-42 Flux Motor Feedback

Source).

Select "Speed closed loop [1]" in par. H-40 Configuration Mode to use the resulting reference as an input for the Speed PID control. The Speed PID control parameters

are located in par. group PI-0#.

Select "Torque [2]" in par. H-40 Configuration Mode to use the resulting reference directly as a torque reference. Torque control can only be selected in the Flux

with motor feedback (par. H-41 Motor Control Principle) configuration. When this mode has been selected, the reference will use the Nm unit. It requires no torque

feedback, since the actual torque is calculated on the basis of the current measurement of the frequency converter.

Select "Process [3]" in par. H-40 Configuration Mode to use the process PID control for closed loop control of e.g. speed or a process variable in the controlled

application.

3.2.6 Internal Current Control in Advanced Vector Control Mode

The frequency converter features an integral current limit control which is activated when the motor current, and thus the torque, is higher than the torque limits

set in par. F-40 Torque Limiter (Driving), par. F-41 Torque Limiter (Braking) and par. F-43 Current Limit.

When the frequency converter is at the current limit during motor operation or regenerative operation, the frequency converter will try to get below the preset

torque limits as quickly as possible without losing control of the motor.

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