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[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Input Signals (Analog Command) and Their Functions
Title of signal
Pin No.
Symbol Function
I/F circuit
Speed command
input
or
Torque command
input,
or
Speed limit input
14 AI
P.193
SPR
TRQR
SPL
• Function varies depending on control mode.
•The resolution of the A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 32767 (LSB) = ± 10[V], 1[LSB]
.
=
.
0.3[mV]
Function
• External velocity command input (SPR) when the
velocity control is selected.
• Set up the gain, polarity, offset and filter of the
speed command with;
Pr50 (Speed command input gain)
Pr51 (Speed command input reversal)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
• Function varies depending on Pr5B (Selection of
torque command)
Pr5B
0
1
Pr02
Content
•
Torque command (TRQR) will be selected.
• Set up the torque (TRQR) gain, polarity,
offset and filter with;
Pr5C(Torque command input gain)
Pr5D(Torque command input reversal)
Pr52(Speed command offset)
Pr57(Speed command filter setup)
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain,
offset and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
Control mode
*Function becomes valid when the control mode with underline ( / )
is selected while the switching mode is used in the control mode in table.
<Remark>
Do not apply voltage exceeding ±10V to analog command inputs of SPR/TRQR/SPL.
• This input is invalid.
Velocity
control
Position/
Velocity
Velocity/
Torque
1
3
5
2
4
5
• Function varies depending on Pr5B (Selection of
torque command)
Pr5B
0
1
Content
• This input becomes invalid.
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain, offset
and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
Torque
control
Position/
Torque
Velocity/
Torque
Other control
mode
Others