Parker P Series

Parker Hannifin
P Series User Guide 136
6.5 Torque Control
The purpose of torque control is to control such as tension or pressure of machine part by
voltage desired torque from upper controller.
Select ‘3’ in the control mode[0x3000]
For command torque, Enter analog -10[V] ~ +10[V] voltage to no.7 and no.8 on I/O
connector.
The Block diagram of velocity control mode is as below.
Torque Offset (
0x60B2)
Torque Actual Value
(0x6077)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Generate
Torque
Command
Velocity
Control
Torque
Control
+
+
M
Enc.
Velocity
Calculation
Position
Calculation
OP Mode : Torque
6
7
8
1
Analog Torque Command(A-TLMT)
Speed Limit Value at Torque control Mode(0x230E)
Analog Torque Command Filter Time Constant(0x2228)
Analog Torque Input(command/limit) Offset(0x221D)
Analog Torque Input(command/limit) Scale(0x221C)
Index
Sub
Index
Name
Variable
Format
Accessibility
PDO
Allocation
Unit
0x2121
-
Drive Status Output1
UINT
RO
Yes
-
0x2122
-
Drive Status Output2
UINT
RO
Yes
-
0x6062 - Position Demand Value DINT RO Yes UU
0x60FC
-
Position Demand Internal Value
DINT
RO
Yes
pulse
0x6063
-
Position Actual Internal Value
DINT
RO
Yes
pulse
0x6064
-
Position Actual Value
DINT
RO
Yes
UU
0x60B1 - Velocity Offset DINT RW Yes UU/s
0x60B2
-
Torque Offset
INT
RW
Yes
0.1%
0x606C - Velocity Actual Value DINT RO Yes UU/s
0x6077
-
Torque Actual Value
INT
RO
Yes
0.1%
0x6065
-
Following Error Window
UDINT
RW
No
UU
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