Figure 1 shows the operation principle of Torque Control.
Figure 1. Torque Control Block Diagram
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 beyond the speed limit, the drive corrects the external torque reference if the motor speed reaches the speed 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 [Torque Limit] limit the resulting torque reference. 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 the values set in L7-01 to L7-04.