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5.5 Torque control
5.5.1 Torque general mode
5.5.1.1 Internal speed limit of torque control
internal forward
speed limit in torque
control mode
internal reverse speed
limit in torque control
mode
Note: Even if the setting speed of this parameter is greater than the speed limit of P3-14, the actual
effective speed limit is the lower speed limit. (The maximum speed is the smaller value in
P3-14/P3-15 and P3-16/P3-17)
5.5.1.2 Speed reach signal output (/VLT)
In torque mode, when the absolute value of the actual speed of the servo motor exceeds the speed
limit value, it is considered that the actual speed of the servo motor is limited. At this time, the
servo driver can output /VLT signal. Otherwise, if any condition is not met, the speed limit signal
is invalid.
By default, no terminal is allocated, the parameter range is 0000-0014, and is allocated to the output
interface through parameter P5-43. When set to 0002, the signal is output from the SO2 terminal.
/VLT signal is only valid in torque mode.
5.5.2 Torque control (internal setting)
P0-01 Control mode selection
Set to 1: internal torque mode
P3-33 Internal torque command
The given value is the percentage of rated
torque
P3-16 Internal forward speed limit of
torque control
P3-17 Internal reverse speed limit of torque
control
P3-14 Forward max speed limit (MAX
speed)
P3-15 Reverse max speed limit (MAX
speed)
Speed limit in torque mode
P5-27 Speed direction switch /SPD-D
Change the direction, default is n.0000
If it is given through SI2 terminal, P5-27
can be set to n.0002
5.5.2.1 Internal torque mode
Torque control: internal setting
Function: Control the torque by internal torque command.
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