Instructions for using torque mode

The torque control mode is divided into internal torque mode and analog input mode according to different command sources, and its usage steps are as follows：

Figure 5-6 Torque Mode Usage Process

torque mode wiring

Figure 5-7 Torque Mode Wiring Diagram

mean twisted pair cables

Note ：

• Signal cables and power cables must be wired separately, with a minimum distance of 30cm between them；
• When connecting signal cables due to insufficient length, the shielding layer must be reliably connected and grounded；
• +5V is referenced to GND, and+24V is referenced to COM -. Do not exceed the maximum allowable current, otherwise the driver will not function properly

5.3.2Setting of torque mode related function codes

1. Torque command input setting
   1. Source of torque command

In torque control mode, there are two sources of torque commands: source A and source B. There are two ways to set it：

• keyboard settings. The percentage of the torque value stored in function code P07-03 to the rated torque is used as the torque command.
• Analog command source refers to the conversion of external input analog voltage signals into torque command signals for controlling motors. At this point, the correspondence between analog quantities and torque commands can be arbitrarily specified.

• 1. Torque command selection

The torque control mode has the following 5 ways to obtain torque commands, which are set through function code P07-00

• 1. Direction switching of torque command

By setting the function code FunIN.25, DI can be used to control the direction switching of torque commands, meeting the needs of direction switching.

When the torque command selects "A/B switching",that is H07-02=3, a separate function definition needs to be assigned to the DI terminal. Select whether the current input of command A or B is valid through this input terminal.

Using AI1 as an example to illustrate the method of setting torque commands.

When there is interference in the AI1 input signal, the AI1 low-pass filtering parameter P08-03 can be set for filtering.

The given torque command (percentage relative to the rated torque of the motor) can be viewed through O-004.

1. Torque mode speed limit function

In torque control mode, to protect the machinery, it is necessary to limit the speed of the servo motor. When torque control is applied, the servo motor is only controlled by the output torque command and does not control the speed. Therefore, if the torque command is set too high, higher than the load torque on the mechanical side, the motor will continue to accelerate and overspeed. In this case, the speed limit value of the motor needs to be set.

When the speed exceeds the limit range, the speed difference between the overspeed and the limit speed is converted into a certain proportion of torque, which is cleared in the negative direction to return the speed to the limit range. Therefore, the actual motor speed limit value may fluctuate due to different load conditions. The speed limit value (speed instruction during same speed control) can be given through internal or analog sampling.

DO function selection: After the motor speed is limited, the output signal is as follows

Note: The signal needs to be allocated to the corresponding digital output port.

The sources of speed limit include internal speed limit sources and external speed limit sources. When selecting the internal speed limit source (P07-12=0), directly set P07-13 to limit forward speed and P07-14 to limit negative speed. If P07-12=2, under FunIN.36 allocation, select P07-13 or P07-14 as the speed limit through DI. When P07-12=1 and selecting an external speed limit source, first specify the analog channel through P07-19, and then set the analog correspondence as needed. At this time, the external limit value should be smaller than the internal speed limit source to prevent danger caused by improper setting of the external speed limit source.

The speed limit method is set through the following function codes.

1. Torque command limit setting

To protect the mechanical device, the output torque can be limited by setting the function code P07-04. There are five ways to select torque limitation：

DI function selection: Input forward/reverse external torque limit selection signal P-CL/N-CL.

DO function selection: Output torque limit confirmation signal C-LT。

Note: The signal needs to be allocated to the corresponding digital output port

For example, when setting up analog input AI, first specify the TLMT variable through function P07-18, and then set the corresponding relationship between torque and analog voltage.

When P07-04=1, the external torque limit for forward and reverse rotation is triggered by external DI settings (P-CL, N-CL), and torque is limited according to the values set for P07-07 and P07-08. When the external limits and their combination limits exceed the internal limits, the internal limits are taken, that is, due to the minimum limit value. The torque is limited within the maximum torque range of the motor. The TLMT is symmetrical, with a limit of | TLMT | value for forward rotation and reverse rotation

1. Torque reached

The torque arrival function is used to determine whether the actual torque value has reached the set interval. When the actual torque reaches the torque threshold, the driver will output the corresponding DO signal (FunOut.4: torque reached) for use by the upper controller.

Actual torque command: A

Torque reaches reference value: B

Torque reaching hysteresis: C

When the torque reaches the DO signal from invalid to valid, the torque command needs to meet the following requirements:

|A| ≥ B

When the torque reaches the DO signal from valid to invalid, the torque command needs to meet the following requirements:

|A| < B – C

Otherwise, the torque reaches the DO signal and remains in its current state.

Note that it is necessary to ensure that B>C, otherwise hysteresis will not work.

DO Function selection: Output torque limit confirmation signal C-LT.

Note: The signal needs to be allocated to the corresponding digital output port.