User manual

11 Functions and operations in the torque control mode
−93−
 System parameters
Item Description
OPX-2A screen
display
Reference
Encoder output electronic
gear A
Sets the denominator of the electronic gear for encoder output.
[SyS-0-02]
Encoder output electronic
gear B
Sets the numerator of the electronic gear for encoder output.
[SyS-0-03]
p.123
Analog input signals Changes the setting to enable/disable the analog input signals. [SyS-1-05] p.93
Motor rotation direction Set the direction in which motor torque generates. [SyS-1-06] p.96
11.3 Torque control operation
The motor is operated in a manner controlling its output torque at a specified level.
Follow the steps below to perform a torque controlled operation:
Step 1 Setting the torque command value
Step 2 Setting the motor rotation direction
Step 3 Performing the torque controlled operation
Step 1 Setting the torque command value
Set a torque command value under each of eight operation data numbers from 0 to 7.
When the system parameter for analog input signals [SyS-1-05] is set to “Enable,” two analog points and six
digital points are available to assign settings. If the parameter is set to “Disable,” eight digital points are
available to assign settings.
Set the torque limit as an integer percentage of the rated torque being 100%, in a range of 0 to 300%.
Analog input signals [SyS-1-05]
Operation data Enable (initial value) Disable
No.0
Analog setting
(internal potentiometer VR1)
Digital setting
No.1
Analog setting
(External potentiometer or
external DC voltage)
Digital setting
No.2 to 7 Digital setting
Note
If operation data No. 0 is selected for torque controlled operation, the speed limit value
(p.99) set under operation data No. 0 will also be selected. Different operation data
numbers cannot be selected for the two parameters.
Select a desired torque command value from among the predefined settings, based on a combination of
ON/OFF statuses of M0 to M2 inputs.
Operation data M2 input M1 input M0 input
No.0 OFF OFF OFF
No.1 OFF OFF ON
No.2 OFF ON OFF
No.3 OFF ON ON
No.4 ON OFF OFF
No.5 ON OFF ON
No.6 ON ON OFF
No.7 ON ON ON