Torque control is defined as maintaining a desired torque regardless of actual speed of the drive. The A1000, U1000 and the GA800 drives are capable of performing Torque Control.

To use Torque Control, the following is required:

1. An encoder installed in the motor to provide feedback to the drive.
2. Either a PG-X3 or PG-B3 Option Card installed in the drive.

1. Set A1-02 to one of the following:
   • 3: Activate Closed Loop Vector Control method using a general purpose motor.
   • 7: Activate Closed Loop Vector Control method using a permanent magnet (PM) motor.
2. Perform an Auto Tune under the Auto Tune menu.
3. Set d5-01 to "1" to enable Torque Control
4. Select desired Speed Limit by parameter d5-03
   • 1: Limit set by the frequency reference in b1-01 (Frequency Reference Selection)
   • 2: Limit set by d5-04 (Speed Limit)
   • If using Modbus Register 0002H (Frequency Reference), set b1-01 (Frequency Reference Selection) = 2 and d5-03 (Speed Limit) = 1
5. Select Torque Reference
   • If an analog input is required, set H3-02 (For Terminal A1), H3-10 (For Terminal A2) or H3-06 (For Terminal A3) = 13 (Torque Reference).
   • If using Modbus Register 0004H (Torque Reference), change parameter b1-01 (Frequency Reference) = 2 (Modbus Communications) and enable register 000FH bit 2 (Torque Reference input).
   • If using a communication option card (such as Ethernet) to write the Torque Reference set parameter F6-06 (Torque Reference Selection from Comm. Card) = 1 (Enabled)
6. Monitor U1-09 (Torque Reference) for the actual torque while the drive has a run command.