User manual

11 Functions and operations in the torque control mode
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Freeing the motor output shaft: FREE input
When the FREE input is turned ON, the motor current will be cut off. The motor will lose its holding torque,
and the output shaft can be turned with an external force.
If the FREE input is turned ON while the position is held with the electromagnetic brake, the electromagnetic
brake will be released. Accordingly, the position can no longer be held.
FREE input
READY output
MBC output
CW/CCW input
2 ms or less
60 ms or less
20 ms or less
60 ms or less
2 ms or less
30 ms
or less
2 ms or less
2 ms or less2 ms or less
2 ms or less
2 ms or less
30 ms or less
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Release
Hold
Electromagnetic
brake
Motor
excitation
11.4 Speed limit
Since speed control is not performed during torque controlled operation, the motor may operate at high speed
if the load is too small. To prevent this from happening, you can limit the speed of the motor operating under
torque control.
Set a speed limit 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.
Analog input signals [SyS-1-05]
Operation data Enable (initial value) Disable
No.0
Analog setting
(internal potentiometer VR2)
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 as the speed limit, the torque command value (p.93) set
under operation data No. 0 will also be selected. Different operation data numbers cannot
be selected for the two parameters.