Chapter 9. How to Use Torque Servo
9-4
9.4 Setting Parameters Related to Motor and Control
Parameter
No. Name
Description
P1-01 Motor ID Sets ID No. according to servo motor type
P1-10 Amp Type Sets ID No. according to driver type
P1-11 Encoder Type Sets No. according to encoder signal system
P1-12 Encoder Pulse Sets number of encoder pulses
P2-01 Controller Type Sets torque control mode No. to "0"
☯ See Chapter 6. Parameter Setting
For information on setting motor and control parameters, see section 7.4.
9.5 Speed Limit
If the motor is driven by torque servo, motor speed may continuously be accelerated or
decelerated according to load status leading to excessive motor speed. It is therefore
necessary to designate maximum speed of torque servo operation to prevent the motor from
being run at a speed greater than the set level. The speed that can be limited when the
motor is run by torque servo can be set within the maximum motor speed.
The speed limit can be input freely based on the following 2 methods:
① Using 3 digital speed commands ([Speed CMD1 (P3-01)] - [Speed CMD3 (P3-03)]
② Using the external analog speed limit signal (absolute value input)
The selection of the internal speed command based on these 2 methods is determined as
follows according to the CN1 speed limit selection ((SPD1), (SPD2)) contacts.
Speed
selection 1
Speed
selection 2
Speed limit
OFF OFF Absolute value of the analog command speed
OFF ON Absolute value of [Speed CMD1 (P3-01)] set speed
ON OFF Absolute value of [Speed CMD2 (P3-02)] set speed
ON ON Absolute value of [Speed CMD3 (P3-03)] set speed
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