Torque Control Instruction Manual
E6582106
Note
1. Read this manual carefully before using the inverter. After reading, the user should
keep this manual at hand to use it for maintenance and inspection in the future.
2. Please be informed that the contents of this document may be changed without notice.
1. Torque control function
Inverter
M
Speed command
■ Function
VF-AS3 has speed control that controls the rotation of a motor and torque control that controls a power necessary for
constant tension control such as winding control.
Torque control can be used with a motor speed sensor or without it. For a machine requiring torque accuracy, use the
control with sensor.
Note 1) For torque control with sensor, an encoder feedback option "VEC008Z" is required.
■ Difference from speed control
1. What is speed control
Inverter control generally uses speed control.
It gives an inverter a command of a desired rotational speed so that the inverter can control the motor to rotate at
the speed as commanded. Therefore, the speed becomes constant regardless of the size of load.
Main application
Group Examples
Wind/water power
machines and
compress
machine
Distribution,
conveyance, and
transport
machines
Construction
machines related
Textile machine
Food processing
machine
Packing machine
Wood processing
machine
Metal handicraft
machine
Metal processing
machine
Paper making and
printing machine
Automatic service
devices
Environment and
life-related
machine
Fan, blower, pump, air-conditioning
system, clean room, dryer, and
compressor
Crane, hoist, conveyor, 3-dimensional
automatic warehouse, and 3-dimensional
parking
Rock crusher, tunnel boring machine, and
paving machine
Fiber machine, spinning machine, loom,
dyeing machine, and industrial sewing
machine
Blender, slicer, rice/wheat cleaning
machine, bakery equipment, noodle
making machine, tea manufacturing
machine, and commercial oven
Wrapping machine, packing machine, and
bag-filling machine
Woodwork machine, sawing lumbering
machine, and woodwork milling machine,
Lathe, drilling machine, milling machine,
and grinding machine
Wire drawing machine
and winding/rewinding machine
Printing machine, and paperwork machine
Health care tool (running machine and so
on), medical appliance (X-ray equipment
and so on), and stage setting
Business-purpose washing machine, carwash machine, shutter, and dust collector
, press machine,
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2. What is torque control
Inverter
M
Torque command
Torque control gives the inverter a command of a torque to be applied to a load machine, and the inverter controls
so that this torque command and the load torque should match. Therefore, the speed is decreased with a larger
load and increased with a smaller load.
■ Parameter setting
Torque control
Main application
Group Examples
Textile machine
Metal processing
machine
Paper making and
printing machine
Automatic service
devices
Fiber machine, spinning machine, and
loom
Wire drawing machine and winding/
rewinding machine
Printing machine and paperwork machine
Stage setting
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Title Parameter name Adjustment range Unit Default setting
0: V/f constant
1: Variable torque
2: Automatic torque boost
3: Vector control 1
4: Energy savings
5: Dynamic energy savings (for fan and pump)
Pt V/f Pattern
F420 Torque command selection
6: PM motor control
7: V/f 5-point setting
8: 9: Vector control 2
10: PG feedback control
11: PG feedback vector control (speed/torque)
12: -
0: 1: Terminal RR
2: Terminal RX
3: Terminal II
4: Terminal AI4 (option)
5 - 11: 12: F725
13 - 19: 20: Embedded Ethernet
21: RS485 communication (connector 1)
22: RS485 communication (connector 2)
23: Communication option
-0
-2
F421 Torque command filter 0 - 1000 ms 0
F423 Tension control torque bias input Same as [F420] - 0
F424 Load sharing gain input Same as [F420] - 0
2
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Title Parameter name Adjustment range Unit Default setting
0: 1: Terminal RR
2: Terminal RX
F425 Fwd speed limit input
F426 Fwd speed limit level 0.0 - UL Hz 50.0/60.0
F427 Rev speed limit input
F428 Rev speed limit level 0.0 - UL Hz 50.0/60.0
F430
Speed limit center value input
select
3: Terminal II
4: Terminal AI4 (option)
5 - 11: 12: F426
0: 1: Terminal RR
2: Terminal RX
3: Terminal II
4: Terminal AI4 (option)
5 - 11: 12: F428
0: 1: Terminal RR
2: Terminal RX
3: Terminal II
4: Terminal AI4 (option)
5 - 11: 12: F431
-0
-0
-0
F431 Speed limit center value 0.0 - FH Hz 0.0
F432 Speed limit band 0.0 - FH Hz 0.0
F435
F441 Power running torque limit level 1
F443 Regenerative torque limit level 1
F444 Power running torque limit level 2
F445 Regenerative torque limit level 2
F446 Power running torque limit level 3
F447 Regenerative torque limit level 3
F448 Power running torque limit level 4
F449 Regenerative torque limit level 4
Rotation direction limit during
torque control
0: Fwd/Rev permit
1: Command direction permit
0.0 - 249.9
250.0: Disabled
0.0 - 249.9
250.0: Disabled
0.0 - 249.9
250.0: Disabled
0.0 - 249.9
250.0: Disabled
0.0 - 249.9
250.0: Disabled
0.0 - 249.9
250.0: Disabled
0.0 - 249.9
250.0: Disabled
0.0 - 249.9
250.0: Disabled
-0
% 250.0
% 250.0
% 250.0
% 250.0
% 250.0
% 250.0
% 250.0
% 250.0
F455 Torque command polarity at Rev
F725 Panel torque command -250 - 250 % 0
F727 Panel tension torque bias -250 - 250 % 0
F728 Panel load sharing gain 0 - 250 % 100
0: Regeneration at positive torque command
1: Power running at positive torque command
-0
3
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Analog input
Title Parameter name Adjustment range Unit Default setting
F201 RR point 1 input value 0 - 100 % 0
F202 RR point 1 frequency 0.0 - 590.0 Hz 0.0
F203 RR point 2 input value 0 - 100 % 100
F204 RR point 2 frequency 0.0 - 590.0 Hz 50.0/60.0
F205 RR point 1 rate 0 - 250 % 0
F206 RR point 2 rate 0 - 250 % 100
F210 RX point 1 input value -100 - 100 % 0
F211 RX point 1 frequency 0.0 - 590.0 Hz 0.0
F212 RX point 2 input value -100 - 100 % 100
F213 RX point 2 frequency 0.0 - 590.0 Hz 50.0/60.0
F214 RX point 1 rate -250 - 250 % 0
F215 RX point 2 rate -250 - 250 % 100
F216 II point 1 input value 0 - 100 % 20
F217 II point 1 frequency 0.0 - 590.0 Hz 0.0
F218 II point 2 input value 0 - 100 % 100
F219 II point 2 frequency 0.0 - 590.0 Hz 50.0/60.0
F220 II point 1 rate 0 - 250 % 0
F221 II point 2 rate 0 - 250 % 100
F222 AI4 point 1 input value -100 - 100 % 0
F223 AI4 point 1 frequency 0.0 - 590.0 Hz 0.0
F224 AI4 point 2 input value -100 - 100 % 100
F225 AI4 point 2 frequency 0.0 - 590.0 Hz 50.0/60.0
F226 AI4 point 1 rate -250 - 250 % 0
F227 AI4 point 2 rate -250 - 250 % 100
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2. How to set parameters
Set the input characteristics according to the load.
An input voltage of 10V is equivalent to 100%.
2.1 Basic settings and procedures for torque control
(1) Setting torque control with control methods
Set with [Pt: V/f Pattern]. Set as follows depending on whether or not the motor speed sensor exists.
Without sensor: [Pt] = "9: Vector control 2 (speed/torque)"
With sensor: [Pt] = "11: PG feedback vector control (speed/torque)"
• For torque control, setting of parameters for motor is required.
For details, refer to [6.23] in the instruction manual (E6582062) of the inverter.
• For torque control with sensor, an encoder feedback option "VEC008Z" is required. For details, refer to the
instruction manual "E6582148."
(2) Setting parameters to execute torque control
With setting of [CMOd: Run command select], speed control and torque control can be switched with ON/OFF of an
input terminal or communication. They can be switched also during operation.
When [CMOd] = "1: Operation panel/extension panel", torque control is not available.
1) When switching with ON/OFF of the input terminal
Set [CMOd] = "0: Terminal."
Assign "112/113: Speed control/Torque control switching" to an unused input terminal.
Setting example [F116: S3 terminal function] = "112"
Torque control with [S3] terminal ON, speed control with [S3] terminal OFF
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For constant torque control, set to a parameter of always active function.
Setting example [F127: Always active function 2] = "112"
2) When switching with communication
With setting of [CMOd], set as follows with communication.
"2: Embedded Ethernet"
FA38: Set bit0 = ON.
"3: RS485 communication (connector 1)"
FA20: Set bit0 = ON.
"4: RS485 communication (connector 2)"
FA22: Set bit0 = ON.
"5: Communication option"
FA23: Set bit0 = ON.
(3) Setting a mode of torque command
For torque control, the inverter controls so that the torque command and the load torque match.
Set a mode to enter the torque command with [F420: Torque command selection].
• For the motor speed sensor, use the two-phase input type.
• For sensorless torque control, “forward power running ⇔ reverse regeneration" and “forward regeneration ⇔
reverse power running” cannot be operated. Use torque control with sensor if necessary.
1) When setting analog input in [F420]
(a) When setting to "1: Terminal RR" and entering the torque command with 0 to10V
Torque command (%)
[F206]
[F205]
0
[F201]
[F203]
Input voltage (%)
5
(b) When setting to "2: Terminal RX" and entering the torque command with -10 to +10V
-10V
+10V0V
[F215]
[F210]
[
F214]
[F212]
Torque command (%)
Input voltage (%)
Set the input characteristics according to the load.
An input voltage of 10V is equivalent to 100%.
Set the input characteristics according to the load.
An input current of 20mA is equivalent to 100%.
Torque command (%)
0
[F227]
[F226]
[F222]
[F224]
Input voltage/
Input current (%)
Set the input characteristics according to the load.
An input voltage of 10V or input current of 20mA is equivalent
to 100%.
(c) When setting to "3: Terminal II" and entering the torque command with 4 to 20mA
Torque command (%)
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[F221]
[F220]
0
[F216] [F218]
Input current (%)
(d) When setting to "4: Terminal AI4 (option)" and entering the torque command with -10 to +10V, 0 to
10V, and 4 to 20mA
2) When setting the torque command as a value
Set [F420] = "12: F725" and set the torque command value in [F725: Panel torque command].
3) When setting communication in [F420]
"20: Embedded Ethernet"
Set the torque command to FA40.
"21: RS485 communication (connector 1)"
Set the torque command to FA30.
"22: RS485 communication (connector 2)"
Set the torque command to FA32.
"23: Communication option"
Set the torque command to FA33.
(4) Starting torque control
Switch speed control and torque control according to the setting of [CMOd].
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"0: Terminal"
Tension control torque bias
x
Basic torque command Torque command
Load sharing gain
+
+
+
Bias (%)
0
[F206]
[F205]
[F201]
[F203]
Input voltage (%)
An input voltage of 10V is equivalent to 100%.
-10V
[F215]
[
F214]
Bias (%)
+10V0V
[F210] [F212]
Input voltage (%)
An input voltage of 10V is equivalent to 100%.
Turn on the input terminal to which "112: Speed control/Torque control switching" is assigned.
"2: Embedded Ethernet"
FA36: Set bit0 = ON.
"3: RS485 communication (connector 1)"
FA00: Set bit0 = ON.
"4: RS485 communication (connector 2)"
FA04: Set bit0 = ON.
"5: Communication option"
FA06: Set bit0 = ON.
2.2 Setting a gain and a bias for torque command
You can multiply the torque command by a gain and add a bias to the torque command.
Torque command = Basic torque command x Tension torque bias + Load sharing gain
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(1) Setting a mode of bias
Set a mode to enter the bias with [F423].
When [F423] = "0" and [F424] = "0", the gain = 1 and the bias =0.
1) When setting analog input in [F423]
(a) When setting to "1: Terminal RR" and entering the bias with 0 to10V
(b) When setting to "2: Terminal RX" and entering the bias with -10 to +10V
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Bias (%)
Input current (%)
0
[F216] [F218]
[F220]
[F221]
An input current of 20mA is equivalent to 100%.
Bias (%)
0
[F227]
[F226]
[F222]
[F224]
Input voltage/
Input current (%)
An input voltage of 10V or input current of 20mA is equivalent
to 100%.
Gain (%)
0
[F206]
[F205]
[F201]
[F203]
Input voltage (%)
An input voltage of 10V is equivalent to 100%.
(c) When setting to "3: Terminal II" and entering the bias with 4 to 20mA
(d) When setting to "4: Terminal AI4 (option)" and entering the bias with -10 to +10V, 0 to 10V, and 4 to
20mA
2) When setting the bias as a value
Set [F423] = "12: F727" and set the bias in [F727: Operation panel tension torque bias].
3) When setting communication in [F423]
"20: Embedded Ethernet"
Set the bias to FA40.
"21: RS485 communication (connector 1)"
Set the bias to FA30.
"22: RS485 communication (connector 2)"
Set the bias to FA32.
"23: Communication option"
Set the bias to FA33.
(2) Setting a mode of gain
Set a mode to enter the gain with [F424].
1) When setting analog input in [F424]
(a) When setting to "1: Terminal RR" and entering the gain with 0 to10V
8
(b) When setting to "2: Terminal RX" and entering the gain with -10 to +10V
-10V
[F215]
[
F214]
Gain (%)
+10V
0V
[F210] [F212]
Input voltage (%)Input voltage (%)
An input voltage of 10V is equivalent to 100%.
Gain (%)
Input current (%)
0
[F216] [F218]
[F220]
[F221]
An input current of 20mA is equivalent to 100%.
Gain (%)
0
[F227]
[F226]
[F222]
[F224]
Input voltage/
Input current (%)
An input voltage of 10V or input current of 20mA is equivalent
to 100%.
(c) When setting to "3: Terminal II" and entering the gain with 4 to 20mA
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(d) When setting to "4: Terminal AI4 (option)" and entering the gain with -10 to +10V, 0 to 10V, and 4 to
20mA
2) When setting the gain as a value
Set [F424] = "12: F728" and set the gain in [F728: Operation panel load sharing gain].
3) When setting communication in [F424]
"20: Embedded Ethernet"
Set the gain to FA40.
"21: RS485 communication (connector 1)"
Set the gain to FA30.
"22: RS485 communication (connector 2)"
Set the gain to FA32.
"23: Communication option"
Set the gain to FA33.
2.3 Setting a torque command filter
The torque command can be filtered.
Set the time in [F421: Torque command filter].
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Torque command
(Motor torque)
Torque reference set by a torque command
Motor generated torque
Load torque
The output frequency (speed) varies according to the load torque
Frequency (Hz)
Coast stop
Forward speed limit level
Reverse speed limit level
Time
Time
Time
Both forward run and reverse run are performed according to
this setting.
An input voltage of 10V is equivalent to 100%.
Speed limit level (%)
0
[F204]
[F202]
[F201]
[F203]
Input voltage (%)
3. Setting of speed limits during torque control
When the load torque decreases during operation in torque control mode, the output frequency (speed) of the inverter increases.
You can set speed limits to protect your machine.
There are two methods to limit the frequency.
• Setting the forward and reverse speed limits
• Setting the center value of speed limits and setting the speed limit band in positive and negative directions from the center value
In addition, you can set limits not to rotate in direction opposite to the command direction.
3.1 Setting the forward and reverse speed limits
(1) Motions with speed limits
When torque command > load torque, the speed increases to reach the speed limit level.
When torque command < load torque, the speed decreases.
(2) Setting a mode of speed limit level
Set a mode to enter the speed limit level.
Set in [F425: Fwd speed limit input] for forward run and in [F427: Rev speed limit input] for reverse run.
1) When setting analog input in [F425] and [F427]
(a) When setting to "1: Terminal RR" and entering the speed limit level with 0 to10V
10
(b) When setting to "2: Terminal RX" and entering the speed limit level with -10 to +10V
-10V
[F213]
[F211]
Speed limit level (%)
+10V0V
[F210] [F212]
Input voltage (%)
Both forward run and reverse run are performed according to
this setting.
An input voltage of 10V is equivalent to 100%.
Speed limit level (%)
Input current (%)
0
[F216] [F218]
[F220]
[F221]
Both forward run and reverse run are performed according to
this setting.
An input current of 20mA is equivalent to 100%.
Speed limit level (%)
0
[F225]
[F223]
[F222]
[F224]
Input voltage/
Input current (%)
Both forward run and reverse run are performed according to
this setting.
An input voltage of 10V or input current of 20mA is equivalent
to 100%.
(c) When setting to "3: Terminal II" and entering the speed limit level with 4 to 20mA
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(d) When setting to "4: Terminal AI4 (option)" and entering the speed limit level with -10 to +10V, 0 to 10V,
and 4 to 20mA
2) When setting the speed limit level with a value
For forward run, set [F425] = "12: F426" and set a value in [F426: Fwd speed limit level].
For reverse run, set [F427] = "12: F428" and set a value in [F428: Rev speed limit level].
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An input voltage of 10V is equivalent to 100%.
-10V
[F213]
[
F211]
Speed limit center value (%)
+10V
0V
[F210] [F212]
Input voltage (%)
An input voltage of 10V is equivalent to 100%.
3.2 Setting the center value of speed limits and setting the speed limit band in positive and negative directions from the center value
(1) Motions with speed limits
Generally, this setting is applied when operating a slave unit that follows the speed of the host unit.
By setting the speed limit band with the speed command of the host unit as the speed limit center value, the speed of
the slave unit can be limited with ±speed limit band against the speed of the host unit.
Maximum speed limit [UL: Upper limit frequency]
Speed limit
value
(2): Speed limit band
Host unit speed command
(2) Setting the speed limit level
The speed limit can be set between "center value - speed limit band" and "center value + speed limit band."
Set a mode to enter the speed limit center value with [F430: Speed limit center value input select].
Set the speed limit band for the center value in [F432: Speed limit band].
(1): Speed limit center value reference
1) When setting analog input in [F430]
(a) When setting to "1: Terminal RR" and entering the speed limit center value with 0 to10V
Speed limit center value (%)
[F204]
[F202]
0
[F201] [F203]
Input voltage (%)
(b) When setting to "2: Terminal RX" and entering the speed limit center value with -10 to +10V
12
(c) When setting to "3: Terminal II" and entering the speed limit center value with 4 to 20mA
An input current of 20mA is equivalent to 100%.
Speed limit center value (%)
0
[F225]
[F223]
[F222]
[F224]
Input voltage/
Input current (%)
An input voltage of 10V or input current of 20mA is equivalent to
100%.
Speed limit center value (%)
[F221]
[F220]
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0
[F216] [F218]
Input current (%)
(d) When setting to "4: Terminal AI4 (option)" and entering the speed limit center value with -10 to +10V,
0 to 10V, and 4 to 20mA
2) When setting the speed limit level with a value
Set [F430] = "12: F431" and set a value in "F431: Speed limit center value].
3.3 Limiting not to rotate in the direction opposite to the command direction
Set [F435: Rotation direction limit during torque control] = "1: Command direction permit."
Define the command direction as follows with the setting of [CMOd: Run command selection].
"0: Terminal"
Forward run with Terminal F (input terminal function "2: Fwd run") ON, reverse run with Terminal R (input
terminal function "4: Rev run") ON
"2: Embedded Ethernet"
FA36: Forward run when bit9 = OFF, reverse run when bit9 = ON
"3: RS485 communication (connector 1)"
FA00: Forward run when bit9 = OFF, reverse run when bit9 = ON
"4: RS485 communication (connector 2)"
FA04: Forward run when bit9 = OFF, reverse run when bit9 = ON
"5: Communication option"
FA06: Forward run when bit9 = OFF, reverse run when bit9 = ON
13
4. Application of torque control
Forward run
Forward run commands enabled
Positive torqueNegative torque
Positive torqueNegative torque
Reverse run commands enabled
Reverse run
Same torque command
Region (1)
Region (4)
[F443: Regenerative torque limit level 1]
[F441: Power running torque limit level 1]
[F443: Regenerative torque limit level 1]
[F441: Power running torque limit level 1]
Region (2)
Region (3)
4.1 Applied to application where the direction of rotation does not change
If the direction of rotation does not change continuously because of the machine characteristics, set [F455: Torque
command polarity at Rev] = "0: Regeneration at positive torque command."
As shown in the figure below, the power running torque command is positive (+) and the regenerative torque command
is negative (+).
Limit the power running torque in [F441: Power running torque limit level 1] and the regenerative torque in [F443:
Regenerative torque limit level 1].
This setting is used for applications where the rotation direction is determined.
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For the torque limit level, Power running/Regenerative torque limit 1 - 4 can be switched with ON/OFF of input terminals.
Assign "32: Stall prevention switching/Torque limit switching 1" and "34: Torque limit switching 2" to two unused input
terminals.
32: Stall prevention switching/
34: Torque limit switching 2
Torque limit switching 1
Torque limit level 1 OFF OFF
Torque limit level 2 ON OFF
Torque limit level 3 OFF ON
Torque limit level 4 ON ON
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Rotational direction =
Direction specified by command
= Forward run
Status: Forward run/
Power running torque
Region: (1)
Rotational direction =
Direction specified by command
= Reverse run
Status: Reverse run/
Regenerative torque
Region: (2)
Direction of force
Rotational direction =
Direction specified by command
= Forward run
Status: Forward run/
Regenerative torque
Region: (4)
Direction of force
Rotational direction =
Direction specif ied by command
= Reverse run
Status: Reverse run/
Power running torque
Region: (3)
Direction of force
Direction of force
When torque control is
performed by inverter 1
When torque control is performed by inverter 2
When torque control is
performed by inverter 3
Example of application:
In paper manufacturing lines and so on, once machines have been set up, the directions of rotation of their motors are
fixed and forward run and reverse run are not switched in succession. When controlling the system, the torque produced
in the direction specified by a rotation command is assumed to be positive torque and the torque produced in the
direction opposite to that specified by the rotation command is assumed to be negative torque.
As shown in the figure below, the directions of rotation of the motors that drive rolls arranged in a line and rotate to send
materials in one direction along the manufacturing line differ according to whether they are placed on this side or other
side of the rolls that they drive. Since the product is sent in a fixed direction, the direction of rotation of each motor is
determined by the command from the inverter, regardless of the operating status: power running or regenerative
braking. In this case, a forward run command is selected for inverter 1 and a reverse run command for inverter 2. Set
[F455: Torque command polarity at Rev] to prevent a motor from rotating in the direction opposite to that specified by a
command.
This setting is also used for fixing the side from which a rewinder sends out the material: upper or lower side.
M
Inverter
1
F: Forward run
M
Inverter
2
Reverse run
R: Reverse run
Forward run
Note) In the actual system, torque
control is performed on
some rolls and speed
control on other rolls.
M
Inverter
3
F: Forward run
15
4.2 Applied to application where the direction of rotation changes
If the direction of rotation of the motor changes continuously while the direction in which a force is applied does not
change, set [F455: Torque command polarity at Rev] = [1: Power running at positive torque command].
As shown in the figure below, the torque command on the positive side is positive (+), and the torque command on the
negative side is negative (-).
Limit the torque on the positive side in [F441: Power running torque limit level 1] and the torque on the negative side
in [F443: Regenerative torque limit level 1]. For the torque limit level, Power running/Regenerative torque limit 1 - 4
can be switched with ON/OFF of input terminals.
This setting is used for applications where the rotation direction is not determined.
Torque command
(Forward/reverse
run in succession)
Reverse run
Positive torque
[F441: Power running torque limit level 1]
Region (2) Region (1)
Forward run
Region (3) Region (4)
[F443: Regenerative torque limit level 1]
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Negative torque
Example of application:
This setting is used for controlling a motor whose direction of rotation (power running or regenerative braking) is
determined regardless of the command (F or R command) from the inverter. As shown in the figures below, it is used for
applications where the direction of rotation of the motor and its operating status (power running or regenerative braking)
may change in succession according to the load torque even with the same command.
Torque command > Load torque Torque command < Load torque
Direction of rotation of motorDirection of rotation of motor
Direction of force
Inverter direction specified by command
Rotational direction = Forward run
Inverter direction specified by command
= Forward run
Status: Forward run/Positive torque
(power running)
Region: (1)
Inverter direction specified by command
Rotational direction = Reverse run
Inverter direction specified by command
= Forward run
Reverse run/Positive torque
Status:
(regenerative)
Region: (2)
Direction of force
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©Toshiba Schneider Inverter Corporation 2016
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