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[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Parameters for Sequence
61 10 to
20000
<50>
r/minZero-speed
You can set up the timing to feed out the zero-speed detection output signal
(ZSP : CN X5, Pin-12 or TCL : CN X5, Pin-40) in rotational speed [r/min].
The zero-speed detection signal (ZSP) will be fed out when the motor
speed falls below the setup of this parameter, Pr61.
In-speed (Speed coincidence) signal (V-COIN) will be fed out when the
difference between the speed
command and the motor speed falls
below the setup of this parameter,
Pr61.
• The setup of P61 is valid for both
CCW and CW direction regardless
of the motor rotating direction.
• There is hysteresis of 10 [r/min].
speed
CW
ZSP
ON
(Pr61+10)r/min
(Pr61–10)r/min
CCW
65 0 to 1
<1>
–LV trip selection at
main power OFF
You can select whether or not to activate Err13 (Main power under-
voltage protection) function while the main power shutoff continues for the
setup of Pr6D (Main power-OFF detection time).
<Caution>
This parameter is invalid when Pr6D (Detection time of main power
OFF)=1000. Err13 (Main power under-voltage protection) is triggered
when setup of P66D is long and P-N voltage of the main converter falls
below the specified value before detecting the main power shutoff,
regardless of the Pr65 setup. Refer to P.42, "Timing Chart-At Power-ON"
of Preparation as well.
Setup value
0
<1>
Action of main power low voltage protection
When the main power is shut off during Servo-ON, Err13 will
not be triggered and the driver turns to Servo-OFF. The driver
returns to Servo-ON again after the main power resumption.
When the main power is shut off during Servo-ON, the driver
will trip due to Err13 (Main power low voltage protection).
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content
62 10 to
20000
<50>
r/minAt-speed
(Speed arrival)
You can set up the timing to feed out the At-speed signal (COIN+ : CN
X5, Pin-39, COIN- : CN X5, Pin-38)
At-speed (Speed arrival) (COIN) will be fed out when the motor speed
exceeds the setup speed of this parameter, Pr62
• The setup of P62 is valid for both
CCW and CW direction regardless
of the motor rotational direction.
• There is hysteresis of 10 [r/min].
speed
CW
AT-SPEED
OFF ON
CCW
(Pr62+10)r/min
(Pr62–10)r/min