1. Torque Control diagram P I + + + + ÷ - Current control PWM 00-17 M Encoder Actual frequency Current feedback Weak magnetism curve Toque bias 07-27 No bias According to 03-00 analog multi-function According to multi-function to input terminals Toque limit 06-12 ASR low-pass filter 10-09 Toque limit 07-32~07-35 10-21/10-22 zero speed PI 10-04/10-05 middle speed PI 10-06/10-07 high speed PI 10-00 10-01 PI adjustor The source of toque command can through 07-21 to select KP/communication/analog Toque limit Toque command filter time 07-23 speed/toque Mode selection + Speed limit command is selected by 07-24, 00-20 or 07-25/07-26 coordinates change According to 07-28 toque bias

2. 06-12 current limit Torque Limit of FOC Quadrant 1 Quadrant 4 Quadrant 3 Quadrant 2 Forward motor mode Reverse generator mode Reverse motor mode Forward generator mode Forward Reverse speed Positive torque Negative torque The minimum of the comparison result of the three layers will be torque limit Analog terminal 03-00~02 d7: positive torque limit d9: regenerative torque limit d10: positive/negative torque limit Analog terminal 03-00~02 d7: positive torque limit d10: positive/negative torque limit Analog terminal 03-00~02 d8: negative torque limit d9: regenerative torque limit d10: positive/negative torque limit Analog terminal 03-00~02 d8: negative torque limit d9: regenerative torque limit d10: positive/negative torque limit Reverse regenerative torque Limit 07-35 Forward regenerative torque Limit 07-33 Forward motor torque Limit 07-32 Reverse motor torque Limit 07-34

3. Torque Control-Speed Limit Method Method 1 07-24=0 Speed limit is from Pr.07-25,Pr.07-26 Torque frequency/speed Forward 07-25Reverse 07-26 Method 2 07-24=1 Speed limit is from Pr.00-20 (Source of the frequency command ) Torque frequency/speed Reverse 00-20Reverse 07-26 Toque frequency/speed Forward 07-25Reverse 00-20 When 07-24=1, Speed limit is positive, then negative speed limit is determined by 07-26 When 07-24=1, Speed limit is negative, then positive speed limit is determined by 07-25