90
Wiring to the Connector, CN X5
Input Signals (Analog Command) and Their Functions
Title of signal
Pin No.
Symbol Function
I/F circuit
Speed command
input
or
Torque command
input
14 AI
P.84
SPR
TRQR
• Function varies depending on control mode.
•The resolution of the A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 32767 (LSB) = ± 10[V], 1[LSB]
.
=
.
0.3[mV]
Control mode
Position/
Velocity
Position/
Torque
Other control
mode
Function
• Input of external speed command (SPR) when the
velocity control is selected.
• Set up the gain, polarity, offset and filter of the
Speed command with;
Pr50 (Speed command input gain)
Pr51 (Speed command input reversal)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
• Function varies depending on Pr5B (Selection of
torque command)
• This input is invalid.
Pr5B
0
1
Pr02
3
4
Others
Content
•
Torque command (TRQR) will be selected.
• Set up the torque (TRQR) gain, polarity,
offset and filter with;
Pr5C(Torque command input gain)
Pr5D(Torque command input reversal)
Pr52(Speed command offset)
Pr57(Speed command filter setup)
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain, offset
and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
*Function becomes valid when the control mode with underline ( / )
<Remark>
Do not apply voltage exceeding ±10V to analog command input of SPR/TRQR.
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