Sanken S06-4A005-B Instruction Manual page 160

Speed control
with speed limit value
Torque command (negative)
Speed limit value in torque control
（reverse run side）F6116=1000rpm
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 2
function of external terminals.
Reference parameter
F1002（1st speed frequency setting）
F1007（Upper frequency limit）
F1008（Lower frequency limit）
nd
F1316（2
upper frequency limit）
rd
F1317（3 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)
Torque control integral time
F6118
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.
Starting torque
F6017
Torque
Forward
Torque control
nd
upper frequency limit (F1316) and 3
0～500ms
Speed limit value in torque control
（forward run side）F6115=1500rpm
Torque control
Speed control with speed limit value
Reverse
rd
upper frequency limit (F1317) through the switching
Data Content
0.01～150%
Data Content
- 159 -
Torque command (positive)
Speed
Setting Resolution
0.01%
Setting Resolution
0.1ms
Factory
Presets
※
Factory
Presets
50