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Control Block Diagram of Torque Control Mode
SPR/
TRQR
Torque command monitor
Command speed monitor
Velocity control
Pr11
Pr12
Pr19
Pr1A
Pr20
Torque filter
Pr14
Pr1C
Pr5E
Pr5F
Motor
Encoder
Feedback pulses
OA/OB/OZ
Division
Pr44
Pr45
Pr46
Monitor of actual speed
Velocity
detectionfilter
Multiplication
Pr131st
Internal velocity limit
Pr564th speed
Pr1B2nd
Speed detection
+
–
Input setup
Pr5CGain
Pr5DReversal
Pr52Offset
Pr57Filter
16bitA/D Sign(±)
Absolute value(magnitude)
Torque
limit
+
Notch filter
Pr1D
Pr1E
Pr28
Pr29
Pr2A
Analog
torque
command
Encoder reception
processing
Serial
communication
data
1st
proportion
1st
integration
2nd
proportion
2nd
integration
Inertia ratio
1st frequency
1st
width
2nd frequency
2nd
width
2nd
depth
1st time const.
2nd time const.
1st limit
2nd limit
Numerator
Denominator
Selection
• when Pr5B (Torque command selection) is 0
• when Pr5B (Torque command selection) is 1
CCWTL/
TRQR
Command speed monitor
Feedback pulses
OA/OB/OZ
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Monitor of actual speed
Velocity
detectionfilter
Multiplication
Pr131st
Pr1B2nd
Speed detection
+
–
Input setup
Pr5CGain
Pr5DReversal
16bitA/D
SPR/SPL
Input setup
Pr50Gain
Pr52Offset
Pr57Filter
16bitA/D
Sign(±)
Absolute value
(magnitude)
+
Absolute value
(magnitude)
Analog
torque
command
Analog
velocity
command
Encoder reception
processing
Serial
communication
data
Torque command monitor
Motor
Encoder
Torque
limit
Torque filter
Pr14
Pr1C
Pr5E
Pr5F
Notch filter
Pr1D
Pr1E
Pr28
Pr29
Pr2A
1st frequency
1st
width
2nd frequency
2nd
width
2nd
depth
1st time const.
2nd time const.
1st limit
2nd limit
Velocity control
Pr11
Pr12
Pr19
Pr1A
Pr20
1st
proportion
1st
integration
2nd
proportion
2nd
integration
Inertia ratio