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Section 3-3
System Functions
Torque Control
The Torque Control mode is used to apply a fixed torque, independent of the
travelling speed. This mode can be used for specific applications which
require a constant pressure.
To set up a Motion Application with Torque Control, the following setting in the
Servo Driver is required.
Parameter No.
Parameter Name
Required
Setting
Pn000.1
Control Mode
Selection
9
Explanation
Torque / Speed Control
The output no. 16 is used to control the switch between speed and torque
control during operation. Speed control will be applied when OP(16)=OFF,
and torque control will be enabled when OP(16)=ON. The torque control reference value is set by the T_REF axis parameter.
Speed
Control
Torque
Control
Speed
Control
Time
OP(16)
OFF
ON
OFF
■ Torque Reference
The torque applied to the Servomotor is proportional to the torque reference
value defined by the T_REF axis parameter. The torque reference characteristics are given in the following graph.
Applied Torque
[% of rated torque]
Max. torque (+)
T_RATE
Rated torque
(+ 100%)
1
Torque
reference
-15000
15000
Rated torque
(- 100%)
Max. torque (-)
The torque characteristics are Servomotor dependent. The actual applied
torque of the Servomotor as percentage of the rated torque can be determined by using the T_RATE axis parameter.
Applied Torque [% of rated torque] = T_REF ⋅ T_RATE
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