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Pr 11
Pr 1
2
Pr 1
3
Pr 14
Pr 1
9
Pr 1
A
Pr 1
B
Pr 1
C
Pr 1
D
Pr 1
E
Pr 2
0
Pr 2
8
Pr 2
9
Pr 2
A
Pr 5
C
Pr 5
D
Pr 5
2
Pr 4
4
Pr 4
5
Inverse
Offset
Gain
Inverse
Gain
1st ratio
1st
differential
2nd
differential
2nd ratio
Inertia
ratio
1st
frequency
1st width
2nd
frequency
2nd
width
2nd
depth
1st time
constant
2nd time
constant
2nd
1st
Inverse
Division
Limit
Pr 5
E
Pr 2
7
Pr 5
6
16bitA/
D
Pr 5
C
Pr 5
D
10bitA/
D
Sign( )
Analog torque
command
Analog torque
command
SPR /
TRQR
When pr 02 = 2 or 4
Input setting
Input setting
When pr 02 = 5
Absolute
(magnitude)
Command speed
monitor
Multiplication
Internal speed limit
4th
speed
Speed control
Notch filter Torque f ilter
Torque
limit
Disturbance
observer
Filter
Actual speed
monitor
Speed
detection filter
Speed detection
Encored
receive
processing
PS / PS signal
Division
Feedback pulse
OA / OB / OZ
Torque command
monitor
Encoder
Motor
CCWTL /
TRQR
+
–
+
–
±
Torque control block diagram