151
[Connections and Settings in Torque Control Mode]
Connections and Settings in
Torque Control Mode
Parameters for Speed Control
52 –2047
– 2047
[0]
0.3mVVelocity
command
offset
• This parameter adjusts offset of external analog speed command system
including the host device.
• Offset volume will be approximately 0.3mV per a set value “1”.
• To adjust offset, there are 2 ways of (1) manual adjustment and (2) auto
matic adjustment.
1) Manual adjustment
• When you make offset adjustment with the driver only:
Using this parameter, set a value that prevents the motor from rotat-
ing, after you have correctly input 0V in torque command input
(SPR/TRQR) (or connected to signal ground).
• When the host device establishes a position loop:
With servo locked, using this parameter, set a value so that deviation
pulse will be zero.
2) Automatic Adjustment
• For details on operating instructions in automatic offset adjustment
mode, refer to “Details of Execution Display of Auxiliary Function
Mode” of Preparations volume on page 66.
• When you execute automatic offset adjustment, result will be reflec-
ted in this parameter Pr52.
Parameter
No.
Setting
range
Parameter Name Unit Function/Description
Default setting is shown by [
56
–20000
– 20000
[0]
r/min4th internal
speed
The parameter directly sets the 1st to 4th speed of internal command
speed of when setting of internal speed has been enabled with the para
meter “speed setting internal/external switching” (Pr05), to Pr53 to Pr56
respectively, in the unit of [r/min].
<Caution>
Polarity of settings shows that of internal command speed.
Pr56 is a value of speed limits in torque control mode.
You should set this parameter in a range of rotational speeds of the
motor to be used.
+
–
CCW direction viewed from the edge of axis for (+) command
CW direction viewed from the edge of axis for (-) command
0 – 500
[300]
r/min
57 JOG speed set up
The parameter directly sets JOG speed in JOG run in “motor trial run
mode” in terms of [r/min].
For details on JOG function, refer to “Trial Run (JOG)” of Preparations vol
ume on page 68.
5D 0 – 1 –Torque command
input inversion
The parameter inverts polarity of the torque command input signa
(TRQR: CN X5 14-pin).
In speed/torque switching mode (when Pr02 is 5), torque command inpu
under torque control will be 16-pin of the connector CN X5.
Direction of Generation of Motor Torque
CCW direction viewed from the edge of axis for (+) command
CW direction viewed from the edge of axis for (+) command
Setting value
[0]
1
5C 10 – 100
[30]
0.1V/
100%
Torque command
input gain
The parameter sets a relationship between voltage applied to the torque
command input (TRQR: CN X5 14-pin) in torque control mode and gener
ated torque of the motor.
• Setting is in the unit of [0.1V/100%]
and used to set a value of input vol-
tage necessary for calculating rated
torque.
• At a factory setting of 30, the relation-
ship will be 3V/100%.
Rated
Torque
Torque
Setting of
Shipment
Time
Command
Input Voltage
2
-2-4-6-8-10V
100
100
200
300[%]
200
300[%]
46810V
CW
CCW
