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[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
44
*
45
*
1 to 32767
<2500>
0 to 32767
<0>
Numerator of pulse
output division
Denominator of
pulse output
division
You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-
21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).
• Pr45=<0> (Default)
You can set up the output pulse counts per one motor revolution for each OA
and OB with the Pr44 setup. Therefore the pulse output resolution after
quadruple can be obtained from the formula below.
• Pr45≠0 :
The pulse output resolution per one revolution can be divided by any ration
according to the formula below.
<Cautions>
• The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder, and
10000 [P/r] for the 5-wire 2500P/r incremental encoder.
• The pulse output resolution per one revolution cannot be greater than the
encoder resolution.
(In the above setup, the pulse output resolution equals to the encoder resolution.)
• Z-phase is fed out once per one revolution of the motor.
When the pulse output resolution obtained from the above formula is multiple of 4,
Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to
output with the encoder resolution, and becomes narrower than A-phase, hence
does not synchronize with A-phase.
The pulse output resolution per one revolution
= Pr44 (Numerator of pulse output division) X4
Pr44
(Numerator of pulse output division)
Pr45
(Denominator of pulse output division)
Pulse output resolution per one revolution x Encoder resolution
A
B
Z
Synchronized
A
B
Z
Not-synchronized
Pr44
Pr45
when encoder resolution x is multiple of 4
Pr44
Pr45
when encoder resolution x is not multiple of 4
PrNo.
Setup
range
Title Function/Content
Standard default : < >
Parameters for Position Control
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.