Toshiba TOSVERT VF-AS1 Series Bedienungsanleitung

E6581331

TOSVERT VF-AS1

Torque control Instruction Manual

The technical information in this manual is provided to explain the principal

functions and applications of the product, but not to grant you a license to

use the intellectual property or any other property of Toshiba Schneide

Inverter Corporation or a third party.

E6581331

−Contents −

1. Torque control ........................................................................................................................ 2

2. What is torque control?.......................................................................................................... 3

3. Torque control setting ............................................................................................................ 4

4. Concepts regarding torque control ........................................................................................ 8

4.1 Applied to application where the direction of rotation does not change......................... 8

4.2 Applied to application where the direction of rotation changes.................................... 10

5. Speed limits in torque control mode .................................................................................... 11

E6581331

1. Torque control

TOSVERT VF-AS1 supports the torque control that controls a power necessary for constant tension

control such as winding control as well as speed control that controls the revolution of a motor.

TOSVERT VF-AS1 can use the control methods below:

Sensorless vector control : VF-AS1 inverter only

Vector control with sensor : VF-AS1 + encoder feedback option

(VEC004Z to 007Z)

* For a machine requiring torque accuracy, use the vector control with sensor (parameter:

pt=8).

E6581331

2. What is torque control?

A combination of an inverter and a motor generally uses speed control.

As shown below, it gives an inverter a command of a desired rotational speed so that the

inverter can control the motor to rotate at the speed as commanded.

Compared with the speed control, the torque control gives the inverter a command of a torque

to be applied to a load machine and the inverter controls, in accordance with the torque

command, the speed in the inverter to automatically change so that the speed can match with

the load torque.

Main application

Group Examples

Wind/water power

machines and

compress machine

Fan, blower, pump, air-conditioning

system, clean room, dryer and

compressor, etc.

Distribution,

conveyance and

transport machines

Crane, winding machine, conveyer, 3-

dimensional automatic warehouse

equipment and 3-dimensional parking

equipment, etc.

Construction

machines related

Base foundation machine, shredder,

mill, and tunnel drilling machine, etc.

Textile machine Chemical fiber machine, spinning

machine, loom and dyeing finish

machine, etc.

Food processing

machine

Rice/wheat cleaning machine, flour

milling machine, noodle making machine,

and tea manufacturing machine, etc.

Packing machine Inner packing machine, outer packing

machine and packing machine, etc.

Wood processing

machine

Woodwork machine, sawing lumbering

machine and woodwork milling machine,

etc.

Metal handicraft

machine

Lathe, drilling machine, milling machine

and grinding machine, etc.

Metal processing

machine

Wire drawing machine, press machine

and winding/rewinding machine, etc.

Paper making and

printing machine

Printing machine, make-up machine and

paperwork machine, etc.

Automatic service

devices

Health care tool (Room runner and so

on), Medical appliance (X-ray equipment)

stage setting, and playing machine, etc.

Environment and life-

related machine

Business-purpose washing machine, car-

wash machine, kitchen garbage

processing machine, dust chamber and

home elevator, etc.

Main application

Group Examples

Textile machine Chemical fiber machine, spinning

machine and loom, etc.

Metal processing

machine

Winding/rewinding machine, etc.

Paper making and

printing machine

Printing machine, make-up machine and

paperwork machine, etc.

Automatic service

devices

Stage setting, and playing machine, etc.

VF-AS1 M

Speed

command

VF-AS1 M

Torque

command

E6581331

3. Torque control setting

To operate the VF-AS1 under the torque control, set parameters following the procedure below:

■Related parameters

: V/f

control mode selection

f111 to f118 : Input terminal function selection 1 to 8 (use one of them)

f420

: Torque command selection

1) V/f control mode selection

Set following parameters when torque control is performed;

Without motor speed sensor: pt=4

With motor speed sensor: pt=8

Title Function Adjustment range Default setting

pt V/f

control mode selection

0:Constant torque characteristics

1:Square reduction torque control

characteristics

2:Automatic torque boost

3:Sensorless vector control 1

4:Sensorless vector control 2

5:V/f 5-point setting

6:PM control

7:PG feedback vector control 1

8:PG feedback vector control 2

* The control method to perform the torque control (vector control) requires the setting of a motor-related

constant.

(Refer to Section 6. 22 in the instruction manual (E65801301) attached to the inverter.)

2) Torque control selection

Torque control selection methods include:

• Method with a terminal signal

• Method with parameter setting

• Method with communication

• Function

It is set and used for the torque control through external operation (terminal input) or communication. At

the same time, the setting allows switching between the speed control and torque control during

operation.

E6581331

■Torque control selection by means of terminal signals

The method assigns the torque control switching signal to any of input terminals in the inverter and selects

torque control/speed control by switching ON/OFF of the signal.

In the standard setting at factory shipping, a function of preset speed command 3 is assigned to the S3

terminal. To use it for a terminal for control switching, it is required to change the terminal assignment.

Title Function Adjustment range Default setting

f117 Input terminal function selection 7

(S3) 0to 135 112

Note 1: If the S3 terminal is already used, assign the function to an unused terminal.

Note 2: It is possible to reverse the logics of ON/OFF. In this case, the setting value is 113.

Note 3: It also is possible that the setting always is for the torque setting.

(f110 or f127 or f128: assigned to Always ON function selection)

■Control switching

S3: Control switching

Torque control

Speed control

Control

switching OFF between S3-CC Control

switching ON between S3-CC

Speed

command RR-CC (default setting) Torque

command RX-CC (default setting)

E6581331

3) Torque command

■Related parameters

f420 : Torque command selection

f435 : Prohibition of rotation in any direction other than the specified one (F or R)

f201 : VI/II input point 1 setting

f203 : VI/II input point 2 setting

f210 : RR/S4 input point 1 setting

f212 : RR/S4 input point 2 setting

f216 : RX input point 1 setting

f218 : RX input point 2 setting

f222 : AI1 input point 1 setting

f224 : AI1 input point 2 setting

f725 : Operation panel torque command

f205 : VI/II input point 1 rate

f206 : VI/II input point 2 rate

f214 : RR/S4 input point 1 rate

f215 : RR/S4 input point 2 rate

f220 : RX input point 1 rate

f221 : RX input point 2 rate

f226 : AI1 input point 1 rate

f227 : AI1 input point 2 rate

f727 : Operation panel tension torque bias

f728 : Operation panel load sharing gain

The command set with f420 is enabled. (Default setting: RX input)

Title Function Adjustment range Default setting

f420 Torque command

selection

1:VI/II (voltage/current input)

2:RR/S4 (Potentiometer/voltage input)

3:RX (voltage input)

4:Operation panel input enabled

5:Communication panel RS485 input

6:Communication internal RS485 input

enabled

7:Communications option input

8:AI1 (differential current input)

Note 1: Selecting 4 (panel input) activates the control panel torque reference f725.

Note 2: Use two-phase input type sensor when torque control is operated by vector control with a sensor.

Note 3: For sensorless vector control, “forward power running ⇔reverse regeneration,” and “forward

regeneration ⇔reverse power running” cannot be operated. Use vector control with a sensor

(two-phase) for these uses.

• Function

Selecting a mode of torque command in torque control mode.

E6581331

1) Current signal 4 to 20mAdc

⇒VI/II inputf108 (analog input VI/II current//voltage switching) =1(current input)

[Default setting] [Arbitrary setting]



100%

Motor

torque

4mA

20%

20mA

100%

Zf201Z=

Zf203Z=

Zf205Z=

Zf206Z=

★The relationship between the torque command

and the motor torque can be changed. f201

and f203 settings: 0 and 100% correspond to

currents of 0 and 20mAdc, respectively.

Motor

torque

Zf201Z Zf203Z

Zf205Z

Zf206Z

• Torque produced: 0% at 4mAdc and 100%

at 20mAdc.

2) Voltage signal 0 to 10Vdc ⇒RR input

[Default setting] [Arbitrary setting]

• Torque produced: 0% at 0Vdc and 100%

at 10Vdc.

100%

Motor

torque

10V

100%

Zf210Z=

Zf212Z=

Zf214Z=

Zf215Z=

Motor

torque

Zf210Z Zf212Z

Zf214Z

Zf215Z

★The relationship between the torque command

and the motor torque can be changed. f210

and f212 settings: 0 and 100% correspond to

voltages of 0 and 10Vdc, respectively.

3) Voltage signal 0 to ±10Vdc ⇒RX input

[Default setting] [Arbitrary setting]



• Torque produced: -100% at -10Vdc, 0% at

0Vdc and +100% at 10Vdc.



+10V

Zf218Z=100%

Torque produced by

motor

Torque command



Zf221Z=+100%

-100%

-10V

Zf216Z=0%

Zf220Z=0%

★The relationship between the torque command

and the motor torque can be changed. f216

and f218 settings: 0 and ±100% correspond to

voltages of 0 and ±10Vdc, respectively.

Torque command

+10V

Torque produced by

motor

Zf221Z

-10V

Zf216Z

Zf220Z

Zf218Z

E6581331

4. Concepts regarding torque

control

4.1 Applied to application where the direction

of rotation does not change

Polarities of torque command and torque limit

If the direction of rotation does not change continuously because of the machine characteristics, the

torque control is used with f435 (Prohibition of rotation in any direction other than the specified one (F

or R)) =1(enabled). The direction of rotation of the motor is set by a command: F (forward run signal) or R

(reverse run signal).

f441

Power running torque

limit

Positive

torque

Positive

torque

Forward run

Forward run commands enabled (F)

Reverse run commands enabled (R)

Reverse run

Negative

torque

Negative

torque

Same torque command

Region ①

Region ②

Region ③Region ④

f441

Power running torque

limit

f443

Regenerative braking

torque limit

f443

Regenerative braking

torque limit

In paper manufacturing lines and so on, once machines have been set up, the directions of rotation of their

motors are fixed and not be changed in succession, and when controlling the operation of the entire

system, the torque produced in the desired direction of rotation (direction specified by a rotation

command) is assumed to be positive torque and the torque produced in the direction opposite to that

specified by the rotation command is assumed to be negative torque. For example, as shown in the next

figures (inverter 1 and 2), the directions of rotation of the motors that drive rolls arranged in a line and

rotate to send materials in one direction along the manufacturing line differ according to whether they are

placed on this side or other side of the rolls that they drive. In this example, a selection between F

(forward) and R (reverse) commands is made for each inverter according to the circumstances under

which the system is operated. (Inverter 1: forward run, inverter 2: reverse run) However, torque commands

from the host control unit of the system to the inverters have unified polarity and the direction of rotation of

each individual motor is ignored. For this reason, this setting is usually used for systems that use motors

whose directions of rotation depend on the circumstances under which the system is operated and are not

be changed in succession. To prevent a motor from rotating in the direction opposite to that specified by a

command under normal conditions, this setting is used with parameter f435 (prohibition of rotation in

opposite direction (F or R) set to 1. It can also be used for fixing the side from which a rewinder sends out

the material: upper or lower side.

E6581331



Forward run

Reverse run

Inverter

F: Forward run

R: Reverse run

Note: In actual systems, torque

control is not necessarily

performed on all rolls.

[Hint]

In the system shown below in

which 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 inverter,

regardless of the operating

status: power running or

regenerative braking.

When torque control is performed by inverter 2

When torque control is

performed by inverter

1

When torque control

is performed by

inverter 3

Rotational direction =

Direction specified by

command = Forward run

Status: Forward

run/Power running torque

Region: ①

Direction of force

Rotational direction =

Direction specified by

command = Reverse run

Status: Reverse

run/Regenerative torque

Region: ②

Direction of force

Rotational direction =

Direction specified by

command = Forward run

Status:

Forward/Regenerative

Region: ④

Direction of force

Rotational direction =

Direction specified by

command = Reverse run

Status: Reverse run/Power

running torque

Region: ③

Direction of force

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