Torque Control - Mitsubishi Electric 800 Series Instruction Manual

6

Torque control

Purpose
Torque command source selection or
torque command value setting
To prevent the motor from
overspeeding
To raise precision of torque control
6.1
Torque control
This chapter explains the torque control under Real sensorless vector control.
• Under torque control, output torque is controlled to output the torque as commanded.
• Motor rotation speed is steady when the motor output torque and load torque are balanced.
Thus, motor speed during torque control is determined by the load.
• Under torque control, motor speed accelerates so motor output torque does not exceed motor load.
In order to prevent the motor from overspeeding, set a speed limit.
(Speed control is performed instead of torque control during speed limit.)
• If speed limit is not set, speed limit value setting is regarded as 0 Hz and torque control is not enabled.
 Block diagram
Terminal 4
[Pr. 858 = 4]
Parameter
[Pr.805,806]
CC-Link (FR-A8NC)
CC-Link IE TSN
CC-Link IE Field Network Basic
16bit digital input
(FR-A8AX)
Estimated speed
< Speed limit value
estimated speed
Speed limit value Speed control
+
A
Speed
‒
limit value
112
6. Torque control
6.1 Torque control
Torque command
Speed limit
Torque control gain
adjustment
Terminal 4 bias [C38,C39]
Terminal 4 gain [C40,C41]
RT
[Pr.826≠9999]
Torque
setting
filter
[Pr.826 = 9999]
[Pr.836≠9999]
RT
[Pr.836 = 9999]
RT
RT
(proportional
control)
Speed
estimation
Parameter to set
P.D400 to P.D402, P.G210,
P.H704
P.H410 to P.H412
P.G213, P.G214, P.G313,
P.G314
Torque command
source selection
[Pr.804]
[Pr.826]
[Pr.74]
[Pr.836]
[Pr.74]
Torque control
P gain 1
[Pr.824]
Torque control
integral time 1
[Pr.825]
Torque control
P gain 2
[Pr.834]
Torque control
integral time 2
[Pr.835]
Pr.801, Pr.803 to Pr.806
Pr.807 to Pr.809
Pr.824, Pr.825, Pr.834,
Pr.835
Constant power range
torque characteristic selection
[Pr.803]
+
Motor
+
+
+
Refer
to page
117
120
122