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Wiki source code of 6.3 Torque Control

Last modified by Wecon on 2025/09/03 21:03
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Wecon 1.1 1 The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current could achieve the control of the torque. Torque control refers to controlling the output torque of the motor through a torque reference. Torque reference could be given by internal command and analog voltage.
2
3 **The torque control block diagram is as follows**:
4
5 [[image:1617847486252-505.png||height="204" width="620"]]
6
7 = **Torque Reference Input Setting** =
8
9 [[image:6.3 Torque Control Mode_html_2421a7c916f19e0c.jpg||height="289" width="458"]]
10
11 == **Torque reference source** ==
12
13 In the torque control mode, there are two sources of torque reference, which could be set through [P1-7].** Relevant function codes:**
14
15 |=(((
16 **Code**
17 )))|=(((
18 **Parameter Name**
19 )))|=(((
20 **Property**
21 )))|=(((
22 **Effective**
23
24 **Time**
25 )))|=(((
26 **Range**
27 )))|=(((
28 **Function**
29 )))|=(((
30 **Unit**
31 )))|=(((
32 **Default**
33 )))
34 |(((
35 P1-7
36 )))|(((
37 Torque reference source
38 )))|(((
39 At stop
40 )))|(((
41 Immediate
42 )))|(((
43 0~~1
44 )))|(((
45 0: Internal torque command.
46
47 1: AI_1 analog input.
48 )))|(((
49 -
50 )))|(((
51 0
52 )))
53
54 == **Digital setting** ==
55
56 The source of the torque reference is an internal command, which is set through function code [P1-8]. **Relevant function codes:**
57
58 |=(((
59 **Code**
60 )))|=(((
61 **Parameter Name**
62 )))|=(((
63 **Property**
64 )))|=(((
65 **Effective**
66
67 **Time**
68 )))|=(((
69 **Range**
70 )))|=(((
71 **Function**
72 )))|=(((
73 **Unit**
74 )))|=(((
75 **Default**
76 )))
77 |(((
78 P1-8
79 )))|(((
80 Torque reference keyboard set value
81 )))|(((
82 During running
83 )))|(((
84 Immediate
85 )))|(((
86 -3000~~3000
87 )))|(((
88 -300.0%～300.0%
89 )))|(((
90 0.1%
91 )))|(((
92 0
93 )))
94
95 == **Analog voltage setting** ==
96
97 |=(% style="width: 61px;" %)(((
98 **Code**
99 )))|=(% style="width: 448px;" %)(((
100 **Function**
101 )))|=(% style="width: 136px;" %)(((
102 **Unit**
103 )))|=(((
104 **Format**
105 )))
106 |(% style="width:61px" %)(((
107 U0-21
108 )))|(% style="width:448px" %)(((
109 AI1 input voltage value
110 )))|(% style="width:136px" %)(((
111 V
112 )))|(((
113 decimal(3 decimal digits)
114 )))
115 |(% style="width:61px" %)(((
116 U0-22
117 )))|(% style="width:448px" %)(((
118 AI2 input voltage value
119 )))|(% style="width:136px" %)(((
120 V
121 )))|(((
122 decimal(3 decimal digits)
123 )))
124
125 |=(% style="width: 60px;" %)(((
126 **Code**
127 )))|=(% style="width: 190px;" %)(((
128 **Parameter Name**
129 )))|=(((
130 **Property**
131 )))|=(((
132 **Effective**
133
134 **Time**
135 )))|=(((
136 **Range**
137 )))|=(((
138 **Function**
139 )))|=(((
140 **Unit**
141 )))|=(((
142 **Default**
143 )))
144 |(% style="width:60px" %)(((
145 P5-1
146 )))|(% style="width:190px" %)(((
147 AI_1 input bias
148 )))|(((
149 During running
150 )))|(((
151 Immediate
152 )))|(((
153 -5000~~5000
154 )))|(((
155 Set AI_1 channel analog offset value
156 )))|(((
157 mv
158 )))|(((
159 0
160 )))
161 |(% style="width:60px" %)(((
162 P5-2
163 )))|(% style="width:190px" %)(((
164 AI_1 Input filter constant
165 )))|(((
166 During running
167 )))|(((
168 Immediate
169 )))|(((
170 0~~65535
171 )))|(((
172 AI_1 channel input first-order low-pass filtering time constant
173 )))|(((
174 ms
175 )))|(((
176 200
177 )))
178 |(% style="width:60px" %)(((
179 P5-3
180 )))|(% style="width:190px" %)(((
181 AI_1 dead zone
182 )))|(((
183 During running
184 )))|(((
185 Immediate
186 )))|(((
187 0~~1000
188 )))|(((
189 Set AI_1 channel analog dead zone value
190 )))|(((
191 mv
192 )))|(((
193 20
194 )))
195 |(% style="width:60px" %)(((
196 P5-4
197 )))|(% style="width:190px" %)(((
198 AI_1 zero drift
199 )))|(((
200 During running
201 )))|(((
202 Immediate
203 )))|(((
204 -500~~500
205 )))|(((
206 Automatic calibration zero drift inside the driver.
207 )))|(((
208 mv
209 )))|(((
210 0
211 )))
212 |(% style="width:60px" %)(((
213 P5-5
214 )))|(% style="width:190px" %)(((
215 AI_2 input bias
216 )))|(((
217 During running
218 )))|(((
219 Immediate
220 )))|(((
221 -5000~~5000
222 )))|(((
223 Set AI_2 channel analog offset value
224 )))|(((
225 mv
226 )))|(((
227 0
228 )))
229 |(% style="width:60px" %)(((
230 P5-6
231 )))|(% style="width:190px" %)(((
232 AI_2 Input filter constant
233 )))|(((
234 During running
235 )))|(((
236 Immediate
237 )))|(((
238 0~~60000
239 )))|(((
240 AI_2 channel input first-order low-pass filtering time constant
241 )))|(((
242 ms
243 )))|(((
244 200
245 )))
246 |(% style="width:60px" %)(((
247 P5-7
248 )))|(% style="width:190px" %)(((
249 AI_2 dead zone
250 )))|(((
251 During running
252 )))|(((
253 Immediate
254 )))|(((
255 0~~1000
256 )))|(((
257 Set AI_1 channel analog dead zone value
258 )))|(((
259 mv
260 )))|(((
261 20
262 )))
263 |(% style="width:60px" %)(((
264 P5-8
265 )))|(% style="width:190px" %)(((
266 AI_2 zero drift
267 )))|(((
268 During running
269 )))|(((
270 Immediate
271 )))|(((
272 -500~~500
273 )))|(((
274 Automatic calibration zero drift value inside the driver
275 )))|(((
276 mv
277 )))|(((
278 0
279 )))
280 |(% style="width:60px" %)(((
281 P5-9
282 )))|(% style="width:190px" %)(((
283 Analog 10V for speed value
284 )))|(((
285 At stop
286 )))|(((
287 Immediate
288 )))|(((
289 1000~~4500
290 )))|(((
291 Set the speed value corresponding to analog 10V
292 )))|(((
293 rpm
294 )))|(((
295 3000
296 )))
297 |(% style="width:60px" %)(((
298 P5-10
299 )))|(% style="width:190px" %)(((
300 Analog 10V for torque value
301 )))|(((
302 At stop
303 )))|(((
304 Immediate
305 )))|(((
306 0~~3000
307 )))|(((
308 Set the torque value corresponding to analog 10V
309 )))|(((
310 0.1%
311 )))|(((
312 1000
313 )))
314
315 |=(((
316 **Code**
317 )))|=(((
318 **Parameter Name**
319 )))|=(((
320 **Property**
321 )))|=(((
322 **Effective**
323
324 **Time**
325 )))|=(((
326 **Range**
327 )))|=(((
328 **Function**
329 )))|=(((
330 **Unit**
331 )))|=(((
332 **Default**
333 )))
334 |(((
335 P4-4
336 )))|(((
337 Torque filter time constant
338 )))|(((
339 During running
340 )))|(((
341 Immediate
342 )))|(((
343 10~~2500
344 )))|(((
345 When [Auto-tuning mode] is set as 1, or 2, this parameter is set automatically
346 )))|(((
347 0.01
348 )))|(((
349 0.5
350 )))
351
352 Take the analog voltage signal outputs by the host controller or other equipment as a speed reference.
353
354 **Operation flowchart of setting torque reference by analog voltage:**
355
356 [[image:6.3 Torque Control Mode_html_ef2192af77e6a43.jpg||height="840" width="208"]]
357
358 flowchart of setting torque reference by analog voltage
359
360
361 **Zero drift:** value of the servo drive sampling voltage relative to GND when the input voltage of the analog channel is zero
362
363 **Offset:** input voltage value of the analog channel when the sampling voltage is zero after zero drift correction
364
365 **Dead zone:** input voltage range of the analog channel when the sampling voltage is zero
366
367 [[image:6.3 Torque Control Mode_html_36f93e692c0b4cfe.jpg||height="280" width="456"]]
368
369 Analog signal waveform after-offset
370
371 After completing the correct settings, user could view the input voltage values of AI_1 and AI_2 through [U0-21] and [U0-22]
372
373 **Relevant function codes:**
374
375 = **Torque Reference Filter** =
376
377 In the torque mode, the servo drive could realize low-pass filtering of the torque command, which reduces the vibration of the servo motor.
378
379 **Relevant function codes:**
380
381 [[image:6.3 Torque Control Mode_html_7d09455d975ba974.jpg||height="180" width="458"]]
382
383 Diagram of torque reference first-order filter
384
385 If the setting value of the filter time constant is too large, the responsiveness would be reduced. Please set it while confirming the responsiveness.
386
387 = **Torque Reference Limit** =
388
389 When the absolute value of the torque reference input from the host controller or output by the speed regulator is larger than the absolute value of the torque reference limit, the actual torque reference of the servo drive is restricted to the torque reference limit. Otherwise, the torque reference input from the host controller or output by the speed regulator is used.
390
391 Only one torque reference limit is valid at a moment. Both positive and negative torque limits does not exceed the maximum torques of the servo drive and motor and ±300.0% of the rated torque.
392
393 [[image:6.3 Torque Control Mode_html_13fea7aee44e606e.jpg||height="283" width="554"]]
394
395 Torque setting and limit
396
397 == Torque Limit Source ==
398
399 |=(((
400 **Code**
401 )))|=(((
402 **Parameter Name**
403 )))|=(((
404 **Property**
405 )))|=(((
406 **Effective**
407
408 **Time**
409 )))|=(((
410 **Range**
411 )))|=(((
412 **Function**
413 )))|=(((
414 **Unit**
415 )))|=(((
416 **Default**
417 )))
418 |(((
419 P1-14
420 )))|(((
421 Torque limit source
422 )))|(((
423 At stop
424 )))|(((
425 Immediate
426 )))|(((
427 0~~1
428 )))|(((
429 0: Internal value
430
431 1: AI_2 analog input
432 )))|(((
433 -
434 )))|(((
435 0
436 )))
437
438 The torque limit source is set in[P1-14]. After the torque limit is set, the servo drive torque reference is restricted to be within the torque limit. After the torque reference reaches the limit, the motor runs according to the torque limit. The torque limit must be set according to the load conditions. If the setting is very small, it may cause longer acceleration/decelleration time of the motor, and the actual motor speed may not reach the required value at constant speed running.
439
440 **Relevant code:**
441
442 When [P1-14]= 0: internal torque limit
443
444 The torque reference limit value is determined by the internal function codes [P1-15] and [P1-16]
445
446 **Relevant code:**
447
448 |=(% style="width:62px" %)(((
449 **Code**
450 )))|=(% style="width:180px" %)(((
451 **Parameter Name**
452 )))|=(% style="width:69px" %)(((
453 **Property**
454 )))|=(% style="width:106px" %)(((
455 **Effective**
456
457 **Time**
458 )))|=(((
459 **Range**
460 )))|=(% style="width:467px" %)(((
461 **Function**
462 )))|=(% style="width:53px" %)(((
463 **Unit**
464 )))|=(% style="width:57px" %)(((
465 **Default**
466 )))
467 |(% style="width:62px" %)(((
468 P1-15
469 )))|(% style="width:180px" %)(((
470 Forward rotation torque limit
471 )))|(% style="width:69px" %)(((
472 during
473 )))|(% style="width:106px" %)(((
474 Immediate
475 )))|(((
476 0~~3000
477 )))|(% style="width:467px" %)(((
478 When [P1-14] selects internal torque limit, this function code value is used as the forward torque limit value
479 )))|(% style="width:53px" %)(((
480 0.1%
481 )))|(% style="width:57px" %)(((
482 3000
483 )))
484 |(% style="width:62px" %)(((
485 P1-16
486 )))|(% style="width:180px" %)(((
487 Reverse torque limit
488 )))|(% style="width:69px" %)(((
489 during
490 )))|(% style="width:106px" %)(((
491 Immediate
492 )))|(((
493 0~~3000
494 )))|(% style="width:467px" %)(((
495 When [P1-14] selects internal torque limit, this function code value is used as the reverse torque limit value
496 )))|(% style="width:53px" %)(((
497 0.1%
498 )))|(% style="width:57px" %)(((
499 3000
500 )))
501
502 == Torque Limit DO Signal ==
503
504 When the torque reference reaches the torque limit value, the driver outputs a torque limit signal (138-T-LIMIT torque limit) to the host controller and determines the DO terminal logic.
505
506 **Relevant code:**
507
508
509 |=**Code**|=**Parameter Name**|=**Property**|=(((
510 **Effective**
511
512 **Time**
513 )))|=**Range**|=**Function**|=**Unit**|=**Default**
514 |P6-26|DO_1 function selection |During running|Power on again|128~~142|138-T-LIMIT torque limit|-|138
515
516 = **Torque related DO output function** =
517
518 The feedback value of the torque reference is compared with different thresholds, and the DO signal could be output to the host controller to use. Assign the DO terminals of the servo drive to different functions and set the valid logic.
519
520 Torch reach signal
521
522 [[image:6.3 Torque Control Mode_html_9354fe306cbd5794.jpg||height="404" width="586"]]
523
524 Torch reach signal waveform
525
526 **Relevant function code:**
527
528 |=(% style="width:63px" %)(((
529 **Code**
530 )))|=(% style="width:115px" %)(((
531 **Parameter Name**
532 )))|=(((
533 **Property**
534 )))|=(((
535 **Effective**
536
537 **Time**
538 )))|=(((
539 **Range**
540 )))|=(((
541 **Function**
542 )))|=(((
543 **Unit**
544 )))|=(((
545 **Default**
546 )))
547 |(% style="width:63px" %)(((
548 P5-20
549 )))|(% style="width:115px" %)(((
550 Torque reached threshold
551 )))|(((
552 During running
553 )))|(((
554 Immediate
555 )))|(((
556 0~~300
557 )))|(((
558 The torque reached threshold needs to be used in conjunction with [torque reached hysteresis value]:
559
560 When the actual torque reaches [torque reached threshold] + [torque reaches hysteresis], the torque reached DO becomes effective.
561
562 When the actual torque decreases below [Torque reached threshold] + [Torque reached hysteresis], the torque reached DO becomes invalid.
563 )))|(((
564 %
565 )))|(((
566 100
567 )))
568 |(% style="width:63px" %)(((
569 P5-21
570 )))|(% style="width:115px" %)(((
571 Torque reached hysteresis
572 )))|(((
573 During running
574 )))|(((
575 Immediate
576 )))|(((
577 10~~20
578 )))|(((
579 [Torque reached hysteresis value] Need to be used together with [Torque reached threshold]
580 )))|(((
581 %
582 )))|(((
583 10
584 )))
585 |(% style="width:63px" %)(((
586 P6-26
587 )))|(% style="width:115px" %)(((
588 DO_1 function selection
589 )))|(((
590 During running
591 )))|(((
592 Immediate
593 )))|(((
594 128~~142
595 )))|(((
596 138-T-COIN Torch reach
597 )))|(((
598 -
599 )))|(((
600 138
601 )))
602
603