Torque Control Instruction Manual Book.book
Contents
1. 2 Torque Control Selecione 2 Torque Control Mode Speed Limits 5 Setting Motor Const ii ties 7 Torque Control Applications eorsssnsssonssnnsssnnssnnnssnnsnnnnsnnnsnnssnnnssnnsnnnnsnnnsssnnsnnnsnnnssnnnnen 9 Unidirectional Rotation sise 9 Bidirectional Rotation zu ink 11 Summary Torque Control Parameters sense 12 Parameter DeSCEIpIODS iaa 14 ASD Torque Control Manual ii ASD Torque Control Manual Torque versus Speed Control The Toshiba ASD can be configured to operate in either speed control or torque control mode Speed control mode detects variance from a reference frequency and adjusts the ASD output frequency and voltage to match the measured frequency to the reference frequency ASD Speed command Torque control mode detects variance from a referenced motor load and adjusts the output frequency and voltage to match the measured load to the reference load Torque control of a motor is done in order to maintain a constant tension load on a motor Examples using torque control mode are accelerating decelerating an elevator or running a winding machine The ASD can be set for either unidirectional or bidirectional motor rotation as required by the application ASD Torque command The ASD can be configured to use either of two torque control methods e Sensorless vector control relies o2. F215 100 Motor Torque 1 F214 0 OV 10V F210 0 F212 100 Torque produced 0 at 0 V DC and 100 at 10 V DC Arbitrary Setting A Motor F206 Torque F205 gt F201 F203 The relationship between the torque command and the motor torque can be changed F201 and F203 settings 20 and 80 correspond to currents of 8 and 16 mA DC respectively Arbitrary Setting A F215 on Motor Torque F214 gt F210 F212 The relationship between the torque command and the motor torque can be changed F210 and F212 settings 20 and 70 correspond to voltages of 2 and 7 V DC respectively ASD Torque Control Manual Figure 2 Three control modes Continued 3 Voltage signal 0 to 10 Vdc at RX input Default Setting Arbitrary Setting Torque produced F221 150 by motor A Torque produced F221 22 by motor F220 10V F220 0 OV 10V er F218 100 ov 10 V F216 0 F216 F218 1 l Torque command Torque command 1 150 Torque produced 150 at 10 V DC The relationship between the torque command 0 at 0 V DC and 150 at 10 V DC and the motor torque can be changed F216 and F218 settings for 20 and 80 correspond to 2 and 8 V DC respectively Torque Control Mode Speed Limits Speed limit parameters limit the rise in the o
3. Disabled Regenerative Braking Torque 0 0 249 996 poss Limit 2 Level 250 Disabled UPS Bart 0 0 249 9 F446 Power Running Torque Limit 3 Level 250 Disabled 250 Disabled Regenerative Braking Torque 0 0 249 996 Limit 3 Level 250 Disabled 230 Disabled ae 0 0 249 9 F448 Power Running Torque Limit 4 Level 250 Disabled 250 Disabled Regenerative Braking Torque 0 0 249 9 9 Limit 4 Level 250 Disabled 230 Disabled F472 RR Input Bias 0 255 128 F473 RR Input Gain 0 255 154 F474 RX Input Bias 0 255 127 F475 RX Input Gain 0 255 127 F476 RX2 Input Bias 0 255 128 F477 RX2 Input Gain 0 255 128 F725 Panel Torque Command 250 0 00 F727 Panel Tension Torque Bias 250 0 00 Parameter Descriptions 14 F004 Frequency Mode 1 specifies the input source for the frequency command F011 Maximum Frequency specifies the absolute maximum frequency that the ASD will output Acceleration deceleration times are calculated based on this value F012 Upper Limit Frequency specifies the highest frequency that the ASD will accept as a frequency command The ASD may output frequencies higher than Upper Limit Frequency but no higher than Maximum Frequency when operating in PID Torque or Vector Control mode F013 Lower Limit Frequency is the lowest frequency that the ASD will accept as a frequency command or set point Under certain conditions the ASD may output frequencies lower t
4. Rate is used to set the gain and bias of the RR input terminal when operating in Torque Control Mode These parameters set the output torque value associated with Input Point Settings as a percent of full load torque F216 F218 RX Input Point 1 2 Setting set the two points that establish the RX response slope These two settings are entered as a percentage of F011 Maximum Frequency The use of F216 F218 F220 and F221 is explained in detail in the ASD Operation Manual F220 F221 RX Input Point 1 2 Rate is used to set the gain and bias of the RX input terminal when operating in Torque Control Mode These parameters set the output torque value associated with Input Point Settings as a percent of full load torque F222 F224 RX2 Input Point 1 2 Setting set the two points that establish the RX2 response slope These two settings are entered as a percentage of F011 Maximum Frequency The use of F222 F224 F226 and F227 is explained in detail in the ASD Operation Manual F226 F227 RX2 Input Point 1 2 Rate is used to set the gain and bias of the RX2 input terminal when operating in Torque Control Mode These parameters set the output torque value associated with Input Point Settings as a percent of full load torque F311 Forward Run Reverse Run Disable sets the Forward Run or Reverse Run mode If 0 Off is selected the received direction command will determine the motor rotation F400 Autotuning 1 sets the autotun
5. to ensure that the zero level of the input source is also the zero level setting of the ASD system F473 F475 F477 RR RX RX2 Input Gain may be used to fine tune the gain of the input terminal to ensure that the 100 level of the input source is also the 100 level of the ASD system F725 Panel Torque Command sets the torque command when using the LED Keypad option F727 Panel Tension Torque Bias sets the torque bias when using the LED Keypad option ASD Torque Control Manual ASD Torque Control Manual 17 TOSHIBA TOSHIBA INTERNATIONAL CORPORATION INDUSTRIAL DIVISION 13131 West Little York Road Houston Texas 77041 Tel 713 466 0277 Fax 713 937 9349 US 800 231 1412 Canada 800 872 2192 Mexico 01 800 527 1204 www toshiba com ind Printed in the U S A
6. O tic toshiba com Manual s Purpose and Scope This manual provides information on how to safely implement Torque Control with the ASD The information provided in this manual is applicable to ASD Torque Control only This manual provides configuration information for controlling the ASD via Torque Control Because of our commitment to continuous improvement Toshiba International Corporation reserves the right without prior notice to update information make product changes or to discontinue any product or service identified in this publication Toshiba International Corporation TIC shall not be liable for direct indirect special or consequential damages resulting from the use of the information contained within this manual TOSHIBA is a registered trademark of Toshiba Corporation All other product or trade references appearing in this manual are registered trademarks of their respective owners This manual is copyrighted No part of this manual may be photocopied or reproduced in any form without the prior written consent of Toshiba International Corporation Copyright 2008 Toshiba International Corporation All rights reserved Printed in the U S A Table of Contents Torque versus Speed 1 Torque Control Parameter Settings ur sonsssnnssonsesnnsnonnennnssnnnnnnnssnnsnnnnsnnnsnsnnsnnnsennnsnnnnnen 1 VIF Pattern Selection
7. Speed Limit Input are used to enable disable setting the speed limit input with either an external discrete input or an internal preset value Table 3 External Signals Control signals External Input Signal Range F425 F427 Settings RR CC Oto 10 V 2 RR Voltage signals RX CC O to 10 V 3 RX O to 10 V 1 V I Current signals V I CC 4 0 to 20 mA 1 VA Disabled 0 Disabled F426 F428 Setting None 0 0 Hz F012 4 F426 Setting 4 F428 Setting ASD Torque Control Manual Set Speed Limit using a Center Value and Limit Band A speed limit can be set by entering the center value speed limit and speed limit band Table 4 Parameters for Speed Limit With the Center Value Specified by a Reference Parameter Function Adjustment range Default setting 0 Disabled Speed limit torque 0 center value F430 2 RR potentiometer voltage input 0 Disabled reference 3 voltage input 4 F431 enabled F431 Speed limit torque 0 center value 0 0 Hz to F011 0 0 F432 Speed limit torque 0 band 0 0 Hz to F011 0 0 Figure 5 Speed limit set with center value and limit band Speed limit F432 Speed limit band Master speed command Speed limits can be adjusted by changing the external signals and by specifying the center reference value Setting Motor Constants For greatest accuracy in torque control mode sever
8. TOSHIBA ASD TORQUE CONTROL MANUAL ASD Torque Control Manual Document Number 58696 000 Date May 2008 Introduction The ASD Torque Control Manual explains the concepts behind torque control and details the relevant parameter settings for using the Toshiba 9 Series ASD in torque control mode Please read the entire manual carefully before attempting to operate your ASD in torque control mode Contact your Toshiba sales representative for additional information Important Notice The instructions contained in this manual are not intended to cover all details or variations in equipment types Nor may it provide for every possible contingency concerning the installation operation or maintenance of this equipment Contact your Toshiba sales representative for additional information The contents of this manual shall not become a part of or modify any prior or existing agreement commitment or relationship The sales contract contains the entire obligation of Toshiba International Corporation The warranty contained in the contract between the parties is the sole warranty of Toshiba International Corporation and any statements contained herein do not create new warranties or modify the existing warranty Any electrical or mechanical modifications to this equipment without prior written consent of Toshiba International Corporation will void all warranties and may void other safety certifications Unauthorized modifications may also
9. al motor parameters need to be recorded in the ASD These parameters can be entered manually calculated from basic motor nameplate data or loaded automatically from pre programmed Toshiba four pole motor data The flow chart on page 8 shows how to ensure the necessary parameters are recorded in the ASD memory ASD Torque Control Manual V f control mode 015 40 8 Note 1 Is motor a Toshiba standard YES Setting Motor Constants with Autotune This flowchart shows the procedure for setting up a motor and running autotune if necessary to establish the parameters for high accuracy in torque control mode 4 pole motor with the same capacity as the ASD End See Note 1 wo Set the following parameters as specified on the motor nameplate Nameplate Information Parameter Parameter Range Base frequency F014 0 0 299 0 Hz Base frequency voltage F409 50 0 660 0 V Rated capacity of motor F405 0 1 500 0 kW Motor rated current F406 0 1 2000 A Motor rated speed F407 100 60 000 rpm Note 2 Set F400 4 After execution the setting resets to F400 0 See Note 2 NO Etn 3 Autotune Error 3 displayed NO Motor connected and in a standby state See Note 3 YES v YES T F014 base frequency or F407 rated rotational Check the precautions to be taken wh
10. ant F412 Motor Constant3 Leak Inductance 0 20096 ASD Dependant F413 Motor Constant 4 Rated Slip 0 01 25 00 ASD Dependant 1 V I 2 RR 3 RX 4 Panel Keypad 2 e F420 Torque Command Selection 5 RD482 2 Wire 3 RX 6 RS482 4 Wire 7 Communication Option board 8 RX2 All 0 Disabled 1 V I F425 Forward Speed Limit Input 2 RR 0 Disabled 3 RX 4 F426 F426 Forward Speed Limit Level 0 0 Hz F012 80 0 0 Disabled 1 V I F427 Reverse Speed Limit Input 2 RR 0 Disabled 3 RX 4 F426 F428 Reverse Speed Limit Level 0 0 Hz F012 80 0 0 Disabled 1 V I F430 Speed Limit Center Value Reference 2 RR 0 Disabled 3 RX 4 F431Setting F431 Speed Limit Center Value 0 0 Hz F011 0 0 F432 Speed Limit Band 0 0 Hz F011 0 0 as 0 Disabled 435 Rotation in Specified Direction Only 1 Enabled 0 Disabled 1 V I nt 2 RR F440 Power Running Torque Limit 1 3 4 F441 4 F441 Setting ASD Torque Control Manual 13 Parameter Parameter Name Adjustment Range Default Setting Number BR 0 0 249 9 i F441 Power Running Torque Limit 1 Level 250 Disabled 250 Disabled 1 VA Regenerative Braking Torque 2 RR F442 Limit 1 3 RX 4 F443 4 F443 Setting Regenerative Braking Torque 0 0 249 9 pon Limit 1 Level 250 Disabled 239 Disabled au 0 0 249 9 444 Power Running Torque Limit 2 Level 250 Disabled 250
11. ction specified by command ASD direction specified by command ASD Torque Control Manual Rotational Direction Forward Run ASD direction specified by Command Forward Run Positive Torque Power running Rotational Direction Reverse Run ASD direction specified by Command Reverse Run Positive Torque Regenerative 11 Summary Torque Control Parameters Below is a summary of torque control and related parameters Table 5 Torque Control and Related Parameters Parameter E Parameter Name Adjustment Range Default Setting Number 1 2 RR 3 RX 4 Not Used 5 EOI Keypad 6 RS485 F004 Frequency Mode 1 7 Communications Option Board 2 RR 8 RX2 9 Option V I 10 UP DOWN Frequency terminal board 11 Pulse Input option 12 Pulse Input motor CPU 13 Binary BCD Input option F011 Maximum Frequency 30 0 299 0 Hz 80 0 F012 Upper Limit Frequency 0 0 Hz F011 60 0 F013 Lower Limit Frequency 0 0 Hz F012 0 0 F014 Base Frequency 1 0 0 Hz F012 60 0 0 Constant Torque 1 Voltage Decrease Curve 2 Automatic Torque Boost 3 Sensorless Vector Control Speed 4 Sensorless Vector Control Speed Torque F015 V f Pattern 5 V f 5 Point Curve 0 Constant Torque 6 PM Drive 7 PG Feedback Vector Control Speed 8 PG Feedback Vector Control Speed Torque F201 Input Point 1 Se
12. e command status See the ASD User Manual for details F405 Motor Rated Capacity sets the nameplate rated capacity F406 Motor Rated Current sets the nameplate rated current F407 Motor Rated RPM sets the nameplate rated motor speed F409 Base Frequency Voltage 1 is the motor output voltage at F014 Base Frequency 1 F410 Motor Constant 1 Torque Boost sets the primary resistance of the motor Increasing this value can prevent a drop in motor torque at low speeds F411 Motor Constant 2 No load Current specifies the current lever required to excite the motor Specifying a value that is too high may result in erratic motor operation F412 Motor Constant 3 Leak Inductance sets the leakage inductance of the motor A higher setting results in a higher output torque at high speeds F413 Motor Constant 4 Rated Slip sets the secondary resistance of the motor An increase in this parameter results in an increase in compensation for motor slip F420 Torque Command Selection in Torque Control mode allows the user to select the source of the torque command signal F425 F427 Forward Reverse Speed Limit Input enables disables the Forward Reverse Speed Limit Input control function When enabled in Torque Control mode the forward reverse speed limit is controlled by the selected input F426 F428 Forward Reverse Speed Limit Input Level provides a set value to used as the forward reverse speed li
13. en setting F400 1 if not problem then set F400 2 and begin operation Make necessary settings as specified in 1 Setting auto tuning speed of the motor is not set correctly i Y End Enter F014 base frequency or F407 rated Etn 1 Autotune error 1 YES rotational speed and set F400 4 again or Etn 2 Autotune error 2 displayed The following parameters have been calculated NO and set v v F410 Motor Constant 1 Torque boost F410 and F412 have been tuned to the F410 and F412 use the value calculated F411 Motor Constant 2 No load current connected motor by the ASD F412 Motor Constant 3 Leak inductance F413 Motor Constant 4 Rated slip l v v End End Note 1 Motor used 7 Tuning required Yes No Type No Motor Poles Capacity m Same as ASD No Tuned to factory defaults Pole Toshiba Different than ASD standard motor Other than Same as ASD Yes 4 Pole Different than ASD Others When using motor cables 100 ft 30 m or longer set F400 Autotune 1 2 Note 2 Motor does not need to be connected Note 3 Motor is connected but can be loaded or unloaded ASD Torque Control Manual Torque Control Applications Unidirectional Rotation ASD Torque Control Manual If a motor rotates in one direction and does not reverse ro
14. eristics 1 Torque control vector control requires setting motor related constants F014 F405 F407 and F409 Refer to Setting Motor Constants on pg 7 and motor constants in the ASD instruction manual 2 Use two phase input type sensor when torque control is operated in vector control with sensor mode 3 Use vector control with a two phase sensor for applications requiring forward power running lt gt reverse regeneration and forward regeneration lt gt reverse power running Sensorless vector control does not support these functions Torque Control Selection Torque control selection can be made by any of the following methods Discrete input terminal signal Parameter commands via the EOI Electronic Operator Interface Communication via DeviceNet PROFIBUS etc Torque Control Selection with Discrete Input Terminal Signal This method assigns the torque control switching signal to an ASD discrete input terminal Switch between torque control and speed control by closing or opening the switch The default factory setting for parameter F117 Input terminal 7 S3 selection is input setting 14 Preset Speed Command 3 ASD Torque Control Manual To use S3 for control switching change parameter F117 Input terminal 7 S3 selection input setting to 112 Control switching speed torque Parameter Function Adjustment range Setting 112 Control switching F117 Input ter
15. han the Lower Limit Frequency e Accelerating from a stop e Decelerating to a stop e System is in PID Torque or Vector Control modes F014 Base Frequency 1 is the frequency at which the output voltage of the ASD reaches its maximum setting The Base Frequency should be set to the frequency listed on the motor nameplate F015 V f Pattern establishes the relationship between the output frequency and the output voltage See the ASD manual for details ASD Torque Control Manual F201 F203 V I Input Point 1 2 Setting sets two points that establish the V I response slope The two points typically refer to the lower and upper range limits as a percent of maximum frequency full load torque The use of F201 F203 F205 and F206 is explained in detail in the ASD Operation Manual F205 F206 V I Input Point 1 2 Rate is used to set the gain and bias of the V I input terminal when operating in Torque Control Mode These parameters set the output torque value associated with Input Point Settings as a percent of full load torque F207 Frequency Mode 2 specifies the input source for the frequency command used as Frequency Mode 2 F210 F212 RR Input Point 1 2 Setting set the two points that establish the RR response slope These two settings are entered as a percentage of F011 Maximum Frequency The use of F210 F212 F214 and F215 is explained in detail in the ASD Operation Manual F214 F215 RR Input Point 1 2
16. minal function selection 7 S3 0 to 135 speed torque Note Ifthe S3 terminal is already in use assign the function to an unused discrete input terminal The terminal function can be set to always torque by setting parameter F110 Always ON to 112 Control Switching Figure 1 Control Switching Speed Control Torque Control OFF between 53 Control ON between S3 CC switching switching Speed Torque F command RR CCA Default Setting command RX CCA Default Setting Table 2 Command Set with F420 Enabled Default setting RX input Parameter Function Adjustment range Default setting 1 V I voltage current input 2 RR Potentiometer voltage input 3 RX voltage input 1 F420 Torque command selection E uiia nn a 3 RX voltage input wire 6 RS485 4 wire 7 Communications option board 8 RX2 AII differential current input Note Select 4 Keypad input to activate the control panel torque reference F725 ASD Torque Control Manual 3 Figure 2 Three control modes 1 Current signal 4 20 mA mA DC V I input F108 analog input current voltage switching 1 current input Default Setting F206 100 Motor Torque F205 0 20 m F201 20 203 100 Torque produced 0 at 4 mA DC and 100 at 20 mA DC 2 Voltage signal 0 10 Vdc using RR input Default Setting
17. mit settings if Setting is selected in F425 or F427 ASD Torque Control Manual 15 F430 Speed Limit Center Value Reference selects the input terminal that be used to control the allowable speed variance F431 Speed Limit Center Value sets the target speed in Torque Control mode F432 Speed Limit Band establish a plus or minus bandwidth for the corresponding Speed Limit Center Value in F431 F435 Rotation in Specified Direction Only enables or disables the Forward Run or Reverse Run mode If either direction is disabled commands for the disabled direction will not be recognized F440 Power Running Torque Limit 1 determines the source of the control signal for the positive torque limit settings If Settings is selected the value set in F441 is used as the input F441 F444 F446 F448 Power Running Torque Limit 1 4 Level provides the value of the control signal input for the positive torque upper limit for the 1 4 motor profiles if Settings is selected F442 Regenerative Braking Torque Limit 1 determines the source of the control signal for the Regenerative Torque Limit settings If Settings is selected the value set in F443 is used as the input F443 F445 F447 F449 Regenerative Braking Torque Limit 1 4 Level provides the value of the control signal input for the Regenerative Torque Limit for the 1 4 motor profiles if Settings is selected F472 F474 F476 RR RX RX2 Input Bias may be used
18. n the internal programming of ASD e Vector control with sensor requires the ASD be equipped with one of the encoder feedback options Toshiba Part No VEC004Z through 0077 For applications requiring very accurate torque control use the vector control with sensor method Set parameter F015 to 8 PG Vector Feedback Control Speed Torque Torque Control Parameter Settings Use the following parameters to configure and operate the ASD in torque control mode e F015 V f pattern e F111 to F118 Input terminal function selection use one of them e 420 Torque command selection ASD Torque Control Manual 1 V f Pattern Selection Set parameter F015 V f Pattern for torque control by selecting one of two options Set F015 to 4 Sensorless Vector Control if not using a motor frequency feedback sensor Set F015 to 8 PG Vector Feedback Control if using a motor frequency feedback sensor Table 1 Parameter F015 selection options Parameter Function Adjustment range Default setting F015 V f control mode selection Constant torque characteristics Square reduction torque control characteristics Automatic torque boost Sensorless vector control Speed Sensorless vector control Speed Torque 3 V f 5 point setting PM control PG feedback vector control Speed PG feedback vector control Speed Torque 32 0 Constant torque charact
19. on F435 Enabled ae Ts ar Forward run command enabled F E F441 Power running torque e 5 443 Regenerative braking 95 limit torque limit N m N Region 1 Region 2 Region 4 Reverse run command enabled R enb10 Reverse run 1 1 1 1 Forward run gt 1 1 Region 3 N F443 Regenerative braking torque limit owes SU 52 F441 Power running torque 592 d limit zy 58 o V EE s Figure 7 Example of Unidirectional Torque Control Reverse run Forward run Note In actual practice torque control is not necessarily performed on all rollers In this system the product is sent in a fixed direction The direction of rotation of each motor is determined by the command F or R from the ASD regardless of the operating status power running or regenerative braking R Reverse run F Forward run Torque control Torque control performed by ASD 2 Torque control performed by ASD 1 performed by ASD 3 Direction of force E A E 2 Direction of force Direction of force Direction of force Rotational direction Rotational direction Rotational direction Rotational direction Direction specified by Direction specified by Direction specified by Direction specified by command Forward run command Reverse run command Reverse run command Forward run Status Forward Regenera
20. result in a safety hazard or equipment damage Misuse of this equipment could result in injury and equipment damage In no event will Toshiba Corporation be responsible or liable for direct indirect special or consequential damage or injury that may result from the misuse of this equipment Contacting Toshiba s Customer Support Center Toshiba s Customer Support Center can be contacted to obtain help in resolving any Adjustable Speed Drive system problem that you may experience or to provide application information The center is open from 8 a m to 5 p m CST Monday through Friday The Support Center s toll free number is US 800 231 1412 Fax 713 937 9349 Canada 800 527 1204 You may also contact Toshiba by writing to Toshiba International Corporation 13131 West Little York Road Houston Texas 77041 9990 Attn ASD Product Manager For further information on Toshiba s products and services please visit our website at www toshiba com ind About This Manual This manual was written by the Toshiba Technical Publications Group This group is tasked with providing technical documentation for the ASD Torque Control Manual Every effort has been made to provide accurate and concise information to you our customer At Toshiba we re continuously searching for better ways to meet the constantly changing needs of our customers E mail your comments questions or concerns about this publication to Technical Publications Dept
21. tation during operation set F435 Rotation in Specified Direction ONLY to 1 Enabled The direction of rotation of the motor is set by parameter F008 Forward Reverse Run Selection Set F008 to 0 Forward or 1 Reverse as required by the system See the ASD Operation Manual for details of the interaction between F008 Forward Reverse Run Selection and F311 Forward Run Reverse Run Disable On a paper manufacturing line for example once the machines have been set up the direction of rotation of their motors is fixed and does not change When controlling the operation of the entire system the torque produced in the desired direction of rotation direction specified by a rotation command is considered positive torque and the torque produced opposite of the specified rotation is considered negative torque In Figure 7 on pg 10 motors ASD 1 and 2 drive rolls that rotate to send material in one direction along the manufacturing line The direction of rotation of ASD 1 and 2 differ depending on whether they are placed on the top or bottom side of the line they drive In this case ASD 1 rotates forward and ASD 2 rotates in reverse Torque commands from the host control unit of the system to the ASDs have unified polarity and the direction of rotation of each individual motor is ignored That is why this setting 1s usually used for systems that use motors whose directions of rotation remain unchanged Figure 6 Unidirectional rotati
22. tive Status Reverse run Status Reverse run Power Status Forward run Power Region 4 Regenerative torque running torque running torque Region 2 Region 3 Region 1 10 ASD Torque Control Manual Bidirectional Rotation If the direction of rotation of a motor changes while the direction in which the load is applied does not set parameter F435 Rotation In Specified Direction ONLY to 0 Disabled This disables processing of the settings in F311 Forward Run Reverse Run Disable Cranes and elevator motors are subjected to the kind of loading resulting in bidirectional rotation Figure 8 Bidirectional rotaton F435 Disabled Torque command Positive torque Forward reverse run in succession j F441 Power running torque limit Reverse run 1 1 Forward run gt 1 1 F443 Regenerative braking torque limit Negative torque This setting is used for controlling a motor whose direction of rotation is determined regardless of the forward or reverse command from the ASD Figure 9 Example of Bidirectional Torque Control Torque command gt Load Torque command lt Load In the system shown here the torque torque direction of rotation of the motor its operating status will change between power running and Rotating direction Direction of force regenerative braking according to AM A the process demands Rotating direction Direction of force ASD dire
23. tting 0 100 0 F203 Input Point 2 Setting 0 100 100 F205 Input Point 1 Rate 0 250 0 F206 Input Point 2 Rate 0 25096 100 F207 Frequency Mode 2 Same as F004 1 13 1 F210 RR Input Point 1 Setting 0 100 0 P212 RR Input Point 2 Setting 0 10096 100 F214 RR Input Point 1 Rate 0 25096 0 F215 RR Input Point 2 Rate 0 25096 100 F216 RX Input Point 1 Setting 100 0 F218 RX Input Point 2 Setting 100 100 F220 RX Input Point 2 Rate 250 0 F221 RX Input Point 2 Rate 250 100 F222 RX2 Input Point 1 Setting 100 0 F224 RX2 Input Point 2 Setting 100 100 F226 RX2 Input Point 2 Rate 250 0 0 12 ASD Torque Control Manual Parameter Parameter Name Adjustment Range Default Setting Number F227 RX2 Input Point 2 Rate 250 100 0 Off F311 Forward Run Reverse Run Disable 1 Disable Reverse Run 0 Off 2 Disable Forward Run 0 Autotune Disabled 1 Reset Motor Defaults F400 Autotuning 1 2 Enable Autotune on Run Command 0 Autotune Disabled 3 Autotuning by Input Terminal Signal 4 Motor Constant Auto calculation F405 Motor Rated Capacity 0 1 500 0 hp 11 0 F406 Motor Rated Current 0 1 2000 0 A 20 3 F407 Motor Rated RPM 100 60 000 RPM 1730 F409 Base Frequency Voltage 1 50 0 660 0 V ASD Dependant F410 Motor Constant 1 Torque Boost 0 0 30 096 ASD Dependant FA11 Motor Constant2 No load Current 10 9096 ASD Depend
24. utput frequency of the ASD due to a drop in load torque when operating in torque control mode Speed limits can be set either at a specific frequency or by specifying a center frequency with a t frequency bandwidth Set Speed Limits with External Input Signals Figure 3 Torque Reference Set by an External Potentiometer Torque reference set by an external potentiometer Torque command Motor torque Load torque Torque produced by motor Forward speed limit level Speed Coast Stop Reverse speed limit level ET ASD Torque Control Manual 5 Set Speed Limits with EOI Electronic Operator Interface The speed limits can be set by entering the forward reverse speed limit level parameters F426 F428 Set Forward Speed Limit Level F425 Forward Speed Limit Input selection Set to 4 F426 setting F426 Forward Speed Limit Input Level Set desired forward speed limit level Set Reverse Speed Limit Level F427 Reverse Speed Limit Input selection Set to 4 F428 setting F428 Reverse Speed Limit Input level Set desired reverse speed limit level Figure 4 Torque Reference Set with the Operator Interface Forward speed limit level Reverse speed limit level Set Speed Limits with External Signal Speed Coast Stop Speed limits can be adjusted by changing the selected external signals F425 Forward Speed Limit Input and F427 Reverse
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