62 Program featuresThe main difference between traditional control and vector control is that torquecontrol operates at the same time level as the power switch control. There is noseparate voltage and frequency controlled PWM modulator; the output stageswitching is wholly based on the electromagnetic state of the motor.The best motor control accuracy is achieved by activating a separate motoridentification run (ID run).See also section Speed control performance figures on page 68.ParametersParameters: 99.04 Motor control mode and 99.13 ID run requested. Reference rampingAcceleration and deceleration ramping times can be set individually for speed, torqueand frequency reference.With a speed or frequency reference, the ramps are defined as the time it takes forthe drive to accelerate or decelerate between zero speed or frequency and the valuedefined by parameter 46.01 Speed scaling or 46.02 Frequency scaling. The user canswitch between two preset ramp sets using a binary source such as a digital input.For speed reference, also the shape of the ramp can be controlled.With a torque reference, the ramps are defined as the time it takes for the referenceto change between zero and nominal motor torque (01.30 Nominal torque scale).Variable slopeVariable slope controls the slope of the speed ramp during a reference change. Withthis feature a constantly variable ramp can be used.Variable slope is only supported in remote control.ParametersParameters: 23.28 Variable slope enable and 23.29 Variable slope rate.Special acceleration/deceleration rampsThe acceleration/deceleration times for the jogging function can be definedseparately; see section Jogging on page 65.The change rate of the motor potentiometer function (page 99) is adjustable. Thesame rate applies in both directions.A deceleration ramp can be defined for emergency stop (“Off3” mode).
