User manual

11 Functions and operations in the torque control mode
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Using the internal potentiometer VR1
1.
Set the system parameter for analog input signals [SyS-1-05] to “Enable.”
Note
When a system parameter has been changed, the new parameter will become
effective after the power is cycled. If a 24 VDC power supply is used, also cycle the
24 VDC power supply.
2.
Turn the M0 to M2 inputs OFF and select operation data No. 0.
3.
Use the internal potentiometer VR1 to set the
torque command value.
Setting range: 0 to 300%
Factory setting: 0%
VR1
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Using an external potentiometer or external DC voltage
1.
Set the system parameter for analog input signals [SyS-1-05] to “Enable.”
Note
When a system parameter has been changed, the new parameter will become
effective after the power is cycled. If a 24 VDC power supply is used, also cycle the
24 VDC power supply.
2.
Turn the M0 input ON and M1 and M2 inputs OFF, and select operation data No. 1.
3.
Connect an external potentiometer or external DC voltage to pins 4 to 6 of the analog I/O
connector (CN6).
Refer to p.42 for details on the connection method.
4.
Set the gain.
Set the torque command value per 1 V of voltage command in the application parameter for analog
torque command gain [APP-2-03].
Setting range: 0 to 300%
Initial value: 30%
5.
Set the offset.
If there is even a slight margin of error in the voltage value, the torque command value may not become
0% even when the voltage command specifies 0 V (minimum value). In this case, adjust the offset using
one of the two methods described below.
Automatic adjustment
1. Set the application parameter for analog input signal automatic offset [APP-2-06] to “Enable.”
2. Input 0 V to the analog torque input terminal (pin 5 of CN6).
3. Apply the offset for analog torque input using the OPX-2A or MEXE02.
Adjustment using a parameter
1. Set the application parameter for analog input signal automatic offset [APP-2-06] to “Disable.”
2. Set the offset voltage in the application parameter for analog torque command offset voltage
[APP-2-05].
6.
Set the torque command value using an external potentiometer or external DC voltage.