Higen FDA7004B - Gain Adjustment for Torque Control Mode

4. Servo using method and gain adjustment
4-14
4.3 Gain adjustment method for torque control mode
This explains the torque servo using method and gain adjustment method. The following
diagram shows the generation sequence of the current command during torque control.
+
[Torque command TC
(P06-01)]
+
-
1
1000
+
1st
filter
[Digital input speed1 (P04-01)]
Speed limit selection
(SPD1,SPD2)
(OFF,OFF)
(ON,ON)
(OFF,ON) (ON,OFF)
Speed
detection
Encoder
Speed limit
operation
Internal current
command
[10V Torque (P06-07)]
1000
Rated
torque
Speed limit
0
1
[+10V Speed (P03-15)]
10
1
1000
[Offset voltage setting (P03-18)]
+
+
(TRQIN)
( ) : Contact point input
[ ] : Set value
SPDLIM
(ON)
(OFF)
[Digital input speed2 (P04-02)] [Digital input speed3 (P04-03)]
[-10V Speed (P03-16)]
10
[CCW speed limit (P02-05)] [CW speed limit (P02-06)]
[Offset voltage auto adjustment (P03-17)]
[Offset voltage setting (P06-09)] [Offset voltage auto adjustment (P06-08)]
Acceleration/
deceleration
process
[Acceleration time (P06-02)] [Deceleration time (P06-03)]
*
Analog speed limit