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[Connections and Settings
in Torque Control Mode]
page
Torque control block diagram..............................132
CN X5 Connector...................................................133
CN X5 Connector ...................................................................... 133
Interface Circuit ......................................................................... 134
Input signal (common) assignment to CN X5 connector pins ... 136
Input signal assignment to CN X5 connector pins - designation(logic)
.......... 138
Output signal assignment to CN X5 connector pins - designation(logic)
....... 138
Trial run at Torque Control Mode.........................140
Operation with CN X5 Connected ............................................. 140
Real time auto gain tuning ...................................142
Outline ....................................................................................... 142
Application range....................................................................... 142
How to use ................................................................................ 142
Parameters, which are set up automatically ............................. 143
Caution ...................................................................................... 143
Parameter Setting .................................................144
Parameters for Function Selection ............................................ 144
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning .....
147
Parameters for real time auto gain tuning ................................. 148
Parameters for Switching to 2nd Gains..................................... 150
Parameters for Position Control ................................................ 150
Parameters for Speed Control .................................................. 151
Parameters for Torque Control .................................................. 152
Parameters for various sequences ........................................... 152