5-15
5-3 Torque Control
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5
BASIC CONTROL Mode
CONTROL mode Selection (Pn001)
Select the torque control (Set values: 2=Torque control, 4=Switching between Position control
and Torque control or 5=Switching between Speed control and torquecontrol).
Analog Torque Command Input Process (Pn317, Pn318, Pn319, Pn320)
Convert the voltage input by an analog input to a torque command to control the motor.
The conversion of analog torque command is explained below.
Parameter
number
Parameter name Explanation
Setting
range
Unit
Pn317
Torque
Command/Speed
Limit Selection
Select the input location for the torque
command and speed limit value.
0: Torque command: Analog input 1
speed limit: Pn321
1: Torque command: Analog input 2
speed limit: Analog input 1
2: Torque command: Analog input 1
speed limit: Pn321, Pn322
0 to 2 −
Pn318
Torque Command
Direction
Selection
Select the method for selecting the
direction for the torque command.
0: The direction depends on the
polarity of the analogue torque
command).
1: The direction depends on the state
of a digital input (TSIGN).
0 to 1 −
Pn319
Torque Command
Scale
Set the input gain for analog torque
command input.
10 to 100 0.1 V/100%
Pn320
Analog Torque
Command
Rotation Direction
Switching
Reverse the polarity of the torque
command input.
0: Forward operation
1: Reverse operation
0 to 1 −
Torque
Comman
d/Speed
Limit
Selection
(Pn317)
Torque
Command
Direction
Selection
(Pn318)
Analog Torque
Command
Rotation
Direction
Switching
(Pn320)
Analog torque
command
(TREF)
Torque
command
sign input
(TSIGN)
Motor
rotation
direction
Conversion
graph
0
0
0
+Voltage (0 to 10 V)
Not
affected
Forward
direction
Figure A
-Voltage (-10 to 0 V)
Not
affected
Reverse
direction
1
+Voltage (0 to 10 V)
Not
affected
Reverse
direction
Figure B
-Voltage (-10 to 0 V)
Not
affected
Forward
direction
1
Not affected
+Voltage (0 to 10 V)
OFF
Forward
direction
Figure C
Not affected
-Voltage (-10 to 0 V)
Not affected
+Voltage (0 to 10 V)
ON
Reverse
direction
Not affected
-Voltage (-10 to 0 V)
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