User manual

19 References
−176−
19.5 Function/parameter list (torque control mode)
Item Overview
Standard
specification
Extended
function
Control mode Set the control mode. Available Available
Set the torque command value via operation data No. 0 or 1 as an analog
setting (internal potentiometer VR1, external potentiometer or external DC
voltage). Operation data Nos. 2 to 7 provide digital settings.
Available
Available
Set the torque command value per 1 V of analog input voltage. Not available Available
Set the offset voltage for analog input. Not available Available
Set whether or not to enable automatic offset for analog input signals. Not
available
Available
Torque command
Set the torque command value via one of operation data Nos. 0 to 7 as a
digital setting.
Not
available
Available
Set the speed limit value via operation data No. 0 or 1 as an analog setting
(internal potentiometer VR2, external potentiometer or external DC voltage).
Operation data Nos. 2 to 7 provide digital settings.
Available
Available
Set the speed limit value per 1 V of analog input voltage. Not available Available
Set the speed at which to clamp the analog input to zero. Not available Available
Set the offset voltage for analog input. Not available Available
Set whether or not to enable automatic offset for analog input signals. Not
available
Available
Speed limit
Set the speed limit value via one of operation data Nos. 0 to 7 as a digital
setting.
Not
available
Available
Operation data
selection
Select one of operation data Nos. 0 to 7 using the M0 to M2 inputs.
Available
Available
Analog/digital selection Toggle operation data No. 0 and No. 1 between analog setting and digital
setting. When this parameter is set to “Enable,” operation data Nos. 0 and 1
become analog settings, while Nos. 2 to 7 provide digital settings. When the
parameter is set to “Disable,” all operation data numbers provide digital
tti
Not
available
Available
Motor rotation direction Set the direction in which motor torque generates. Not
available
Available
READY output When the motor becomes ready, the READY output will turn ON. Available Available
Forward/reverse Start operating in forward or reverse direction. With an analog setting, the
rotation direction changes depending on the voltage.
Available
Available
The MOVE output remains ON while the motor is operating. Available Available
Select the MOVE output.
Not
available
Available
MOVE output
Set the minimum ON time for the MOVE output.
Not available Available
FREE input Release the electromagnetic brake and stop the motor excitation. The motor
output shaft becomes free.
Available
Available
MBC output Output the timing at which to release the electromagnetic brake.
Not
available
Available
Output the ASG/BSG/ZSG1 (ZSG2) signals based on encoder feedback
pulses.
Available
Available
Set the encoder feedback pulses per motor evolution. The resolution of
encoder feedback pulses is calculated by the formula below:
Resolution = 1000 × (Encoder output electronic gear B / Encoder output
electronic gear A)
The calculated value should fall within the setting range specified below:
Setting range: 100 to 10,000 P/R
Not
available
Available
Encoder feedback
output
Select the ZSG2 output. Not
available
Available