536
12 DATA USED FOR POSITIONING CONTROL
12.8 Control Data
[Cd.145] Torque time constant at torque control mode (Negative direction)
• Set the time constant at regeneration during torque control mode. (Set the time for the torque to decrease from "[Pr.17]
Torque limit setting value" to "0".)
0 to 65535 (ms)
Fetch cycle: At control mode switching
■Setting value
• Set with a decimal.
• Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 392 Control data
[Cd.146] Speed limit value at torque control mode
• Set the speed limit value at torque control mode.
• Set a value within the following range:
*1 When "[Pr.83] Speed control 10 multiplier setting for degree axis" is valid, the setting range is 0 to 2000000000 ( 10
-2
degree/min).
Fetch cycle: Operation cycle (At torque control mode)
■Setting value
• Set with a decimal.
• Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 392 Control data
[Pr.1] Unit setting mm ( 10
-2
mm/min) inch ( 10
-3
inch/min) degree
*1
( 10
-3
degree/min) pulse (pulse/s)
Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 1000000000
Setting
value
K
Torque time constant at
torque control mode
(Negative direction) (ms)
0 to 65535
[Cd.146] Speed limit value at
torque control mode
Actual value
Conversion into an
integer value
× 10
m
R
Setting value
Unit conversion table ([Cd.146])
m
mm/min
inch/min
2
3
3
*
degree/min
0
pulse/s
Unit
*: When "[Pr.83] Speed control
10 × multiplier setting for
degree axis" is valid: "2"
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