Mitsubishi Electric FR-A700 Instruction Manual page 302

Torque control by real sensorless vector control, vector control
Operation example (when Pr. 804 = 0)
Torque control is enabled if the actual speed is less than the speed limit value. When the actual
speed reaches or exceeds the speed limit value, speed limit operation starts, torque control is
stopped, and speed control (proportional control) starts.
The following shows the operations in response to the analog input command from terminal 1.
(Forward rotation
Fig. 6-36: Transition operation
1)When STF signal is turned on, the speed limit value is increased according to the time set in
Pr. 7.
2)Speed control operation is performed if the actual speed rises to or above the speed limit
value. OL signal is output during speed limit.
3)When the STF signal is turned off, the speed limit value is decreased according to the time set
in Pr. 8.
4)For torque control, the actual speed becomes constant when the torque command and load
torque are balanced.
5)The motor torque developing direction is determined by the combination of the torque com-
mand input polarity and start signal as indicated in the following table.
Torque Command Polarity
Positive
Negative
Tab. 6-22: Motor torque developing direction
6 - 122
Speed
Pr. 7
Speed
STF
command)
Speed limit operation
(Speed control)
OL
ON
* When the speed limit activates, torque according to the commanded is not developed.
Speed limit value
Torque control Speed limit operation
operation
Torque Developing Direction
STF signal ON
Forward rotation direction (forward
rotation driving/reverse rotation rege-
neration)
Reverse rotation direction (forward
rotation regeneration/reverse rota-
tion driving)
Pr. 8
Torque Speed limit operation
(Speed control) control (Speed control)
operation
ON ON
STR signal ON
Reverse rotation direction (forward
rotation regeneration/reverse rota-
tion driving)
Forward rotation direction (forward
rotation driving/reverse rotation rege-
neration)
Parameter
Torque command
Time
I001522E