73
Adjustment of the output torque (current) of the motor
4
/:D:O$>$D+
JNK >-#@7)(,&)#?)&0&1(#<#()*?#(Pr. 154)
P"5$&Pr. 154&.-&-50&0(&O>OB&0"5&()08)0&4(70#/5&+59),5-&9)+.$/&-0#77&8+545$0.($&(85+#0.($6&A'&?#%.$/&-500.$/&0(&+59),5
0"5&()08)0&4(70#/5B&#$&(45+,)++5$0&0+.8&,#$&*)+0"5+&25,(?5&9.**.,)70&0(&(,,)+6
T-5&0".-&*)$,0.($&C"5+5&#&0(+K)5&95,+5#-5&C.77&$(0&8(-5&#&8+(275?6
JQK S*B*(#(,&#=(<%%#?)&0&1(*-1#-?&)<(*-1#<1;#@<=(T)&=?-1=&#'7))&1(#%*B*(#-?&)<(*-1#<''-);*1L#(-
(,&#-?&)<(*1L#=(<(7=#(Pr. 156)
;5*5+&0(&0"5&*(77(C.$/&0#275&#$9&-575,0&C"50"5+&*#-0<+5-8($-5&,)++5$0&7.?.0&(85+#0.($&C.77&25&85+*(+?59&(+&$(0&#$9
0"5&(85+#0.($&0(&25&85+*(+?59�&UZ&-./$#7&()08)06
hF P"5$&OU85+#0.($&$(0&,($0.$)59�&-./$#7&()08)0O&.-&-575,059B&0"5&O& &O&*#)70&,(95&[-0(8859&2'&-0#77&8+545$0.($\&.-&9.-87#'59&#$9&(85+#0.($
-0(88596
h] b.$,5&2(0"&*#-0<+5-8($-5&,)++5$0&7.?.0&#$9&-0#77&8+545$0.($&#+5&$(0&#,0.4#059B&UZ&-./$#7&#$9&W6UZ!&#+5&$(0&()08)06
h_ !"5&-500.$/-&OF>>O&#$9&OF>FOM(C&(85+#0.($-&0(&25&85+*(+?59&.$&0"5&9+.4.$/&#$9&+5/5$5+#0.($&?(95-B&+5-85,0.457'6&!"5&-500.$/&OF>FO&9.-#275-&0"5
*#-0<+5-8($-5&,)++5$0&7.?.0&.$&0"5&9+.4.$/&?(956
Pr. 154#+&((*1L R&=')*?(*-1
>U)08)0&4(70#/5&+59),59
F
[.$.0.#7&4#7)5\
U)08)0&4(70#/5&$(0&+59),59
Pr. 156#
+&((*1L
3<=(T)&=?-1=&#
G7))&1(#S*B*(
{n#:'(*0<(&;
zn#
E-(#
<'(*0<(&;
+(<%%#/)&0&1(*-1#
I?&)<(*-1#+&%&'(*-1
{n:'(*0<(&;
znE-(#<'(*0<(&;
IS#+*L1<%#
I7(?7(
{nI?&)<(*-1#
'-1(*17&;
zn
I?&)<(*-1#
1-(#'-1(*17&;
`!
Pr. 156#
+&((*1L
3<=(T)&=?-1=&#
G7))&1(#S*B*(
{n:'(*0<(&;
zn#
E-(#
<'(*0<(&;
+(<%%#/)&0&1(*-1#
I?&)<(*-1#+&%&'(*-1
{n:'(*0<(&;
znE-(#<'(*0<(&;
IS#+*L1<%#
I7(?7(
{nI?&)<(*-1#
'-1(*17&;
zn
I?&)<(*-1#
1-(#'-1(*17&;
`!
:''&%&)<(*-1
G-1=(<1(#
=?&&;
R&'&%&)<(*-1
:''&%&)<(*-1
G-1=(<1(#
=?&&;
R&'&%&)<(*-1
>
[.$.0.#7&
4#7)5\
{{{{{ FE {{{{z
F z{{{{ F= z{{{z
] {z{{{ FG {z{{z
_ zz{{{ FH zz{{z
` {{z{{ ]> {{z{z
^ z{z{{ ]F z{z{z
E {zz{{ ]] {zz{z
= zzz{{ ]_ zzz{z
G {{{z{ ]` {{{{z
H z{{z{ ]^ z{{zz
F> {z{z{ ]E {z{zz
FF zz{z{ ]= zz{zz
F] {{zz{ ]G {{zzz
F_ z{zz{ ]H z{zzz
F` {zzz{ _> {zzzz
F^ zzzz
h] _F zzzzh]
F>>
h_
N+.4.$/
{{{{{
F>F
h_
N+.4.$/
z{{{{
;5/5$5+#0.($
zzzz&h]
;5/5$5+#0.($
zzzzh]
G:H>5IE
P"5$&0"5&7(#9&.-&"5#4'B&0"5&5754#0(+&.-&8+59505+?.$59B&(+&0"5&#,,575+#0.($Y95,575+#0.($&0.?5&.-&-"(+0B&-0#77&8+545$0.($&.-&#,0.4#059
#$9& #,,575+#0.($Y95,575+#0.($& ?#'& $(0& 25& ?#95& #,,(+9.$/& 0(& 0"5& 8+5-50& #,,575+#0.($Y95,575+#0.($& 0.?56& b50& Pr. 156&#$9&-0#77
8+545$0.($&(85+#0.($&75457&0(&0"5&(80.?)?&4#7)5-6
3$&45+0.,#7&7.*0& #887.,#0.($-B& ?#%5& -500.$/& -(&0"#0& 0"5&*#-0<+5-8($-5& ,)++5$0&7.?.0& .-&$(0& #,0.4#0596&!(+K)5& ?#'& $(0& 25& 8+(9),59B
,#)-.$/&#&9+(8&9)5&0(&/+#4.0'6