Instruction manual

3. SIGNALS AND WIRING
3.4.3 Torque control mode
(1 ) Torque control
(a) Torque command and generated torque
A relationship between the applied voltage of the analog torque command (TC) and the torque
generated by the servo motor is shown below.
The maximum torque is generated at +8V. Note that the torque generated at f8V input can be
changed with parameter No. 26.
h
CCW direction
Generated torque
d.05 +8
TC applied voltage [VI
Max. torque (Note)
CW direction
Generated torque hit values will vary about 5% relative to the voltage depenhg on products.
Generated torque may vary at the voltage of -0.05V to +0.05V.
The following table indicates the torque generation drections determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command PC) is used.
I (Note) External Input Signals I Rotation Direction
RS2 RS1
Torque control Cornrn
+ Polarity ov
No torque
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
I mode)
No torque
CW (forward rotation in
driving modelreverse
rotation in regenerative
md (X)
- Polarity
No torque
CM' (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
I mode)
I
1 I 1 No toraue
Note. 0: RSl/RSP-SG off (open)
1: RSIR.52-SG on (short)
Generally, make connection as shown below:
Servo amlifier
3- 26