12 - 6
Chapter 12 Expansion Control
Required control data setting for the torque control mode
The control data shown below must be set to execute the torque control.
Buffer memory address
Setting item
Setting
value
Setting details
QD77MS2
QD77MS4
QD77MS16
Cd.143
Command torque at
torque control mode
Set the command torque at torque control
mode.
1580+100n 4380+100n
Cd.144
Torque time constant
at torque control
mode
(Forward direction)
Set the time constant at driving during
torque control mode.
1581+100n 4381+100n
Cd.145
Torque time constant
at torque control
mode
(Negative direction)
Set the time constant at regeneration
during torque control mode.
1582+100n 4382+100n
Cd.146
Speed limit value at
torque control mode
Set the speed limit value at torque control
mode.
1584+100n
1585+100n
4384+100n
4385+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
Required control data setting for the continuous operation to torque control
mode
The control data shown below must be set to execute the continuous operation to
torque control.
Buffer memory address
Setting item
Setting
value
Setting details
QD77MS2
QD77MS4
QD77MS16
Cd.147
Speed limit value at
continuous operation
to torque control
mode
Set the speed limit value at continuous
operation to torque control mode.
1586+100n
1587+100n
4386+100n
4387+100n
Cd.148
Acceleration time at
continuous operation
to torque control
mode
Set the acceleration time at continuous
operation to torque control mode.
1588+100n 4388+100n
Cd.149
Deceleration time at
continuous operation
to torque control
mode
Set the deceleration time at continuous
operation to torque control mode.
1589+100n 4389+100n
Cd.150
Target torque at
continuous operation
to torque control
mode
Set the target torque at continuous
operation to torque control mode.
1590+100n 4390+100n
Cd.151
Torque time constant
at continuous
operation to torque
control mode
(Forward direction)
Set the time constant at driving during
continuous operation to torque control
mode.
1591+100n 4391+100n
Cd.152
Torque time constant
at continuous
operation to torque
control mode
(Negative direction)
Set the time constant at regeneration
during continuous operation to torque
control mode.
1592+100n 4392+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
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