Chapter 6 Control Modes of Operation
Relevant parameters:
P1 - 41▲
TCM Max. Analog Torque Command or Limit Address: 0152H, 0153H
Default: 100 Related Section:
Applicable Control Mode: ALL Section 6.4.4
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
In Torque mode, this parameter is used to set the maximum analog torque
command based on the maximum input voltage (10V).
In Position (PT, PR) and Speed mode, this parameter is used to set the maximum
analog torque limit based on the maximum input voltage (10V).
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it
indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but
the input voltage is changed to 5V, then the torque command is changed to 50%
rated torque.
Torque Command / Limit = Input Voltage Value x Setting value of P1-41 / 10
6.4.5 Timing Chart of Torque Control Mode
T4 (P1-14)
T3 (P1-13)
T2 (P1-12)
T1
TCM0
TCM1
SON
OFF
ON
OFF
ON
ON
OFF
ON
Internal speed
command
External analog
voltage or zero (0)
External I/O signal
NOTE
1)
OFF indicates normally open and ON indicates normally closed.
2)
When torque control mode is Tz, the torque command T1=0; when torque control mode is
T, the speed command T1 is external analog voltage input (Please refer to P1-01).
3)
After Servo ON, the users can select command according to the state of TCM0~1.
6-48 Revision January 2011
Call 1(800)985-6929 for Sales
Call 1(800)985-6929 for Sales
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