1 Outline
1.3.3 Speed/Position/Torque Control Modes
1-6
1.3.3 Speed/Position/Torque Control Modes
The following table shows the basic specifications at speed/position/torque control mode.
Control Mode Specifications
Speed Control
Performance Soft Start Time Setting
0 to 10 s (Can be set individually for acceleration and
deceleration.)
Input
Signals
Reference Voltage
• Max. input voltage: ±12 V
(forward speed reference with positive reference)
• Factory setting: 6 VDC at rated speed
Input gain setting can be varied.
Input Impedance About 14 kΩ minimum
Circuit Time Constant 30 μs
Internal Set
Speed Control
Rotation Direction
Selection
With P control signal
Speed Selection
With forward/reverse torque limit signal (speed 1 to 3
selection), servomotor stops or another control method is
used when both are OFF.
Position Control
Performance
Feedforward
Compensation
0 to 100% (setting resolution: 1%)
Positioning
Completed Width
Setting
0 to 1073741824 reference units (setting resolution: 1 ref-
erence unit)
Input
Signals
Refer-
ence
Pulse
Type
Sign + pulse train, 90° phase difference 2-phase pulse
(phase A + phase B), or CW + CCW pulse train
Form For line driver, open collector
Max. Input
Pulse
Frequency
Line driver
Sign + pulse train, CW + CCW phase train: 4 Mpps
90° phase difference 2-phase pulse: 1 Mpps
Open Collector
Sign + pulse train, CW + CCW phase train: 200 kpps
90° phase difference 2-phase pulse: 200 kpps
Clear Signal
Error pulse clear
For line driver, open collector
Torque Control
Input
Signals
Reference Voltage
• Max. input voltage: ±12 V
(forward torque reference with positive reference)
• Factory setting: 3 VDC at rated torque
Input gain setting can be varied.
Input Impedance About 14 kΩ minimum
Circuit Time Constant
16 μs
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