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357
[Supplement]
Supplement
Torque Control Mode
• when Pr02 (Setup of control mode) is 2 ,
when Pr02 (Setup of control mode) is 4 and 2nd control mode
when Pr02 (Setup of control mode) is 5 and 2nd control mode
Full-closed Control Mode
• when Pr02 (Setup of control mode) is 6 ,
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
PULS
SIGN
Input setup
Pulse
train
Full closed
position deviation monitor
Actual speed monitor
Command speed
monitor
Position deviation
monitor
Feedback pulses
OA/OB/OZ
Pr40
Input
selection
Pr41Reversal
Pr42Mode
Division/Multiplication
Pr481st numerator
Pr492nd numerator
Pr4AMultiplier
Pr4BDenominator
Damping control
Pr2B1st frequency
Pr2C1st filter
Pr2D2nd frequency
Pr2E2nd filter
Motor
Torque command monitor
FIR smoothing
Pr4D
Average
travel times
1st delay
smoothing
Pr4CSelection
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Pr47Z-phase
Velocity
feed forward
Pr15Gain
Pr16Filter
Speed detection
filter
Pr131st
Pr1B2nd
Speed detection
Encoder reception
processing
Position
control
Pr101st
+
+
+
–
+
–
–
+
Pr182nd
Encoder
External
scale
External scale reception
processing
External scale correction
Pr78Numerator
Pr79Numerator multiplier
Pr7ADenominator
Velocity control
Pr11
1st
proportion
Pr12
1st
integration
Pr19
2nd
proportion
Pr1A
2nd
integration
Pr20
Inertia ratio
Notch filter
Pr1D
1st
frequency
Pr1E1st width
Pr28
2nd
frequency
Pr292nd width
Pr2A2nd depth
Pr2F
Adaptation
Torque filter
Pr14
1st time
constant
Pr1C
2nd time
constant
Pr5E1st limit
Pr5F
2nd limit
Serial
communication
data
Serial
communication
data
Pr7CReversal