ID82 'Positive torque limit'

Supported hardware:

KW-R06 / KW-R16 / KW-R07 / KW-R17 / iX / iC / iDT5 / iX(-R3) / iC(-R3) / iDT5(-R3) /  ihXT / KW-R24 / KW-R24-R / KW-R25 / KW-R26 / KW-R27 /

Sphere of action:

DRIVE

Default value:

1200

Access:

READING / WRITING

Scale:

0.1

Temporarily changeable:

YES

Unit:

%MN

Data length:

2 byte

Min. value:

-3000 %MN

Signed:

YES

Max. value:

3000 %MN

Format:

DEC

    

List:

NO

    

 

The 'Positive torque limit' limits the maximum torque in the positive direction. It must be possible for the drive to realise the entered values.

 

The following applies for calculating the maximum possible limits:

Legend:

IDxx:

ID82 or ID83

ID110:

'Converter peak current'

ID111:

'Motor nominal current IN'

ID32769:

'Magnetising current'

For synchronous motors ID32769 must be set to 0 in the calculation formula!

 

If the specified torque setpoint requires a higher torque than the torque limit permits, the real-time bit ID334 'Message torque: actual value ≥ limit' '|Md| ≥ |MdLimit|' is set.

Siehe ID13 'Status class 3-messages'.

 

If ID92 'Bipolar torque limit' is configured, this takes priority over ID82 'Positive torque limit' and ID83 'Negative torque limit'.

 

Actual values can not be determined with any accuracy, because of measurement and component tolerances. That means for the control loop, that the real acting limit, actual or setpoint values can differ up to 3 % of the rated torque (proportional to ID111 'Motor nominal current IN').

 

Meaning for KW-R06 / KW-R16 / KW-R07 / KW-R17 /

If 'torque limiting via analogue input A2' is selected in ID32800 'AMK main operating mode'0x2221/1'AMK main operation mode' , the larger limit value from ID82 and ID83 limits the maximum torque if 10 V DC are present at the analogue input A2. The analogue input voltage at A2 is evaluated quantitatively.

Example:

ID82 = 100 %

ID83 = 120 % (10 V DC at A2 correspond to a torque limit of 120 % MN (ID32771 'Nominal torque' x 1.2)).

 

Siehe ID32800 'AMK main operating mode'.

Examples of torque setpoint limits (ID82, ID83)

Parameterization Active operation mode Drive behavior

Bipolar limits, e.g. +/- 120 %MN

Position control or speed control

Position control or speed control with torque within the parameterized limits
e.g. -120 %MN bis +120 %MN

Equal limits, e.g. +120 %MN

 Position control or speed control Torque control (current control) to the parameterized torque setpoint limit,
e.g. +120 %MN

 

DANGER

Unexpected acceleration of the motor shaft!

 

The motor goes through! The inverter switches off the motor from the speed ID113 x 1,25 without current.

 

If the torque limits do not allow torque in both directions of rotation, the motor will apply a constant torque regardless of the setpoint according to the set limit.

Without load, the motor will accelerate at the current limit with 120% MN until the turn-off speed n > 1.25 x ID113 is reached and coasts with error message.

 

The drive can only control if the limits allow torques in the positive and negative directions of rotation (bipolar torque limits).

Equal limits, e.g. -120 %MN

 Position control or speed control

Torque control (current control) to the parameterized torque setpoint limit,

e.g. -120 %MN

 

DANGER

Unexpected acceleration of the motor shaft!

 

The motor goes through! The inverter switches off the motor from the speed ID113 x 1,25 without current.

 

If the torque limits do not allow torque in both directions of rotation, the motor will apply a constant torque regardless of the setpoint according to the set limit.

Without load, the motor will accelerate at the current limit with -120% MN until the turn-off speed n > 1.25 x ID113 is reached and coasts with error message.

 

The drive can only control if the limits allow torques in the positive and negative directions of rotation (bipolar torque limits).

Unequal limits, both positive, e.g. +20 bis +120 %MN

 Position control or speed control

Position control or speed control with torque within the parameterized limits,

e.g. +20 %MN bis +120 %MN

 

With these settings, the drive can only be controlled to a limited extent because torque is only permitted in one direction of movement. In addition, if the limits are set so that the torque setpoint 0 Nm is outside the set limits, the drive is always subjected to a non-zero torque in controlled operation.

With RF withdrawal, the drive automatically switches to the speed control mode with speed setpoint 0 Nm, but can not brake because the set torque limits do not allow braking torque. It would coast down if 0 Nm lies within the parameterized limits. If the limits exclude the torque setpoint 0 Nm, the drive is subjected to the torque of the lower limit value during RF removal and a speed not equal to zero will be arise.

Unequal limits, both negative, e.g. -20 bis -120 %MN

 Position control or speed control Position control or speed control with torque within the parameterized limits,
e.g. -20 %MN to -120 %MN

 

With these settings, the drive can only be controlled to a limited extent because torque is only permitted in one direction of movement. In addition, if the limits are set so that the torque setpoint 0 Nm is outside the set limits, the drive is always subjected to a non-zero torque in controlled operation.

With RF withdrawal, the drive automatically switches to the speed control mode with speed setpoint 0 Nm, but can not brake because the set torque limits do not allow braking torque. It would coast down if 0 Nm lies within the parameterized limits. If the limits exclude the torque setpoint 0 Nm, the drive is subjected to the torque of the lower limit value during RF removal and a speed not equal to zero will be arise.

Invalid parameterization! ID83 > ID82

 Position control

The controller enable (RF) will be withdrawl and the diagnosis message error 1313 'ID82 less then ID83' is generated.

Invalid parameterization! ID83 > ID82

 Position control

The controller enable (RF) will be withdrawl and the diagnosis message error 1313 'ID82 less then ID83' is generated.