9. SPECIFICATIONS
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9.1.9 Velocity/Torque Control Type Specifications
This section explains how to handle input commands and other signals for the velocity/torque control type.
(1) Input command specifications
① Torque command input
Fig. 9-17 shows the torque command/motor-generated torque characteristics.
The torque command voltage is a voltage input from torque terminals CN1 - 22 and 20.
Positive motor torque (+) means torque that is generated in the counterclockwise direction when
viewed from the load side.
The polarity can be switched by parameter Func5 bit0.
Fig. 9-17 Torque Command - Generated Torque
② Velocity command input
Fig. 9-18 shows the velocity command/motor revolution speed characteristics.
The velocity command voltage is a voltage input from velocity command input terminals CN1 - 21
and 20.
The positive motor revolution (+) means counterclockwise revolution when viewed from the load side.
The polarity can be switched by Func5 bit1 parameter.
Fig. 9-18 Velocity Command - Speed Characteristics
When the velocity command voltage is tens of mV or less, the motor lock current may pulsate.
If this is problematic, the current pulsation can be reduced by increasing the velocity command
scale (VCMD).
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