A changeover of the internal mode from torque-controlled to speed-controlled oc-
curs when the amount of the actual speed is higher than the amount of the maxi-
mum speed.
The return from the speed-controlled mode to the selected torque-controlled mode
occurs when the actual speed is lower than the setpoint speed (maximum speed).
Furthermore, in the case of a positive set torque (sum of the target torque and
torque offset) the torque required to maintain the maximum speed must be higher
than the specified set torque. Only if the torque setpoint is lower than the torque
required to adjust the speed at the moment, it will be avoided that the drive imme-
diately accelerates beyond the speed limit of max. motor speed. The same applies
to reverse direction of rotation.
In torque-controlled mode, the integral part of the Pi speed controller is precharged
with ZERO if the actual speed and the preset set torque have the same sign.
4.8.7.9 Structure overview
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