D5: Torque Control - Omron Q2A Series Technical Manual

12.4 d: REFERENCE
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d5: TORQUE CONTROL

d5 parameters set the Torque Control function.
The Torque Control function controls the output torque of the motor. You can use Torque Control for roller drives,
winders, unwinders, conveyors and other machines that use tension control and push/pull applications. When
there is no more material and the machine suddenly has no load, the drive uses Torque Control and the speed limit
function to keep the rotation speed of the motor from increasing.
Set A1-02 [Control Method] to one of these values to use Torque Control:
• 3 [CLVector]
• 4 [Adv OLVector]
• 6 [PM AOLVector]
• 7 [PM CLVector]
Note:
When you use Torque Control and A1-02 = 4, use a motor designed for winding applications.
Use one of these methods to enable Torque Control:
• Set d5-01 = 1 [Torque Ctrl Selection = Torque Control].
• Set H1-xx = 13 [Spd/Trq Switch] ON.
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Torque Control Operation
Figure 12.64 shows the operation principle of Torque Control:
The externally input torque reference is the target value for the motor output torque. If the motor output torque
and load torque are not balanced during Torque Control, the motor accelerates or decelerates. To prevent operation
at more than the speed limit, compensate the external torque reference value if the motor speed is at the limit. The
speed limit, speed feedback, and the speed limit bias are the values that calculate the compensation value.
When an external torque compensation value is input, the drive adds that value to the speed limit compensated
torque reference value. The values L7-01 to L7-04 [FW Torque Limit to RV Reg. TrqLimit] limit the value. The
drive uses the value as the internal torque reference. You can use U1-09 [Torque Reference] to monitor the
calculated torque reference. The torque limit values set in L7-01 to L7-04 are most important. Although you can
set a higher external torque reference from an external source, the motor will not operate a torque output higher
than values set in L7-01 to L7-04.
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Setting the Torque Reference, Speed Limit, and Torque Compensation Values
Torque Control Input Value Selection
Table 12.25 lists the method for torque control input signals.
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Figure 12.64 Torque Control Block Diagram
SIEPYEUOQ2A01A AC Drive Q2A Technical Manual