Toshiba TOSVERT VF-AS1 Series User manual

E6581331
TOSVERT VF-AS1
Torque control Instruction Manual
© Toshiba Schneider Inverter Corporation 2006
All rights reserved.
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
r
Inverter Corporation or a third party.

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−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

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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).

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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

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3. Torque control setting
To operate the VF-AS1 under the torque control, set parameters following the procedure below:
■Related parameters
pt : 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
0
* 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.

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■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
CC
CC
RR
S3: Control switching
CC
CC
RX
MM
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)

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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)
3
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.

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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
0
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
0
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
0
0V
0%
10V
100%
Zf210Z=
Zf212Z=
Zf214Z=
Zf215Z=
Motor
torque
0
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

0V
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
0V
Zf221Z
-10V
Zf216Z
Zf220Z
Zf218Z

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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.

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

Forward run
Reverse run
Inverter
3
Inverter
2
Inverter
1
IM
F: Forward run
F: Forward run
R: Reverse run
IM IM
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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4.2 Applied to application where the direction
of rotation changes
■Polarities of torque command and torque limit
If the direction of rotation of the motor changes continuously while the direction in which a force is applied
does not change, the torque control is used with f435 (Prohibition of rotation in any direction other than
the specified one (F or R)) = 0(disabled).
Positive torque
Forward run
Negative torque
Reverse run
f441
: Power running torque limit
f443
: Regenerative braking torque limit
Torque command
(Forward/reverse run in succession)
Region ②Region ①
Region ③Region ④
This setting is used for controlling a motor whose direction of rotation (polarity of torque, that is, power
running or regenerative braking) is determined regardless of the command (F or R command) from the
inverter.
Rotational direction
= Reverse run
Inverter direction specified
by command = Forward run
Status: Reverse run/Positive
torque (regenerative)
Region: ②
Rotating direction Direction of force
Inverter direction specified by command
Rotational direction
= Forward run
Inverter direction specified
by command = Forward run
Status: Forward run/Positive
torque (power running)
Region: ①
Rotating direction Direction of force
Inverter direction specified by command
Torque command > Load
torque
Torque command < Load
torque
[Hint]
In the system shown in the figures
below, the direction of rotation o
f
the motor, in other words, its
operating status (power running o
r
regenerative braking) may change
in succession according to the
circumstances.

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5. Speed limits in torque control
mode
f425 : Forward speed limit input selection
f426 : Forward speed limit input level
f427 : Reverse speed limit input selection
f428 : Reverse speed limit input level
f430 : Speed limit (torque=0) center value
reference selection
f431 : Speed limit (toque=0) center value
f432 : Speed limit (toque=0) band
f433 : Speed limit (toque=0) recovery time













■Setting with the operation panel






Torque command
(Motor torque)
Torque reference set by an external potentiometer
Torque produced b
y
motor
Load torque
The speed varies according with the load torque.
Speed
Coast stop
Forward speed limit level
Reverse speed limit level
The speed varies according with the load
torque.
Speed Coast stop
Forward speed limit level
f426Z
Reverse speed limit level
f428Z
• Function
The function is to limit the rise in the output frequency of the inverter due to a drop of the load torque
during operation in torque control mode. These functions are useful for protecting a machine.

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[Setting of forward speed limit level]
f425 (Forward speed limit input selection): Set to 4(value of f426)
f426 (Forward speed limit input level): Set a desirable forward speed limit level.
[Setting of reverse speed limit level]
f427 (Forward speed limit input selection): Set to 4(value of f428)
f428 (Reverse speed limit input level): Set a desirable reverse speed limit level.
■Setting by means of external signals
The speed limits can be changed arbitrarily by setting external signals.
[Selection of external signals]
RR/S4-CC : 0 to 10V 2
RX-CC : 0 to ±10V 3
VI/II-CC : 0 to 10V 1
VI/II-CC : 4(0) to 20mA 1
f425 and f427 settings
Voltage signals
Current signals
Title Function Adjustment range Default setting
f425 Forward speed limit input
selection
0:Disabled
1:VI/II (voltage/current input)
2:RR/S4 (potentiometer/voltage input)
3:RX (voltage input)
4:f426 enabled
0
f426 Forward speed limit input
level =0 to ul 8=0
f427 Reverse speed limit input
selection
0:Disabled
1:VI/II (voltage/current input)
2:RR/S4 (potentiometer/voltage input)
3:RX (voltage input)
4:f428 enabled
0
f428 Reverse speed limit input
level =0 to ul 8=0
[Speed limit with the center value specified by a reference]
Title Function Adjustment range Default setting
f430
Speed limit (torque = 0)
center value reference
selection
0:Disabled
1:VI/II (voltage/current input)
2:RR/S4 (potentiometer/voltage input)
3:RX (voltage input)
4:f431 enabled
0
f431 Speed limit (torque = 0)
center value 0to fh =0
f432 Speed limit (torque = 0)
band 0to fh =0
f433 Speed limit (torque = 0)
recovery time 0.00 to "50 0.20






Maximum-speed limit
Master s
p
eed command
Speed limit
①: Speed limit center value reference
②: Speed limit band