User`s manual

5-21
5
Functions
5. Functions
5.5 Analog output function
The robot driver has 2 channels provided with analog monitor output terminals. The
output voltage is from 0 to ±3.0V. The speed detection value (nFb), torque command
value (tqr), speed command value (nrF), speed deviation (nEr), position deviation (PEr),
current value (iFb), command pulse frequency (PFq), and regenerative braking resistor
duty ratio (brd) can be selected with parameters (FC-30, FC-33) on the monitor terminals
AO1, AO2 (common L terminal) for the 2 channels. The monitor output gain can be set
in FC-32 and FC-35. The positive/negative polarity output (0 to ±3.0V) or the absolute
value output (0 to ±3.0V) can be selected with FC-31 and FC-34.
Analog monitor output function
Setting Data name
Maximum monitor output value
(3.0V output value)
(Note 1)
Monitor output 1, 2
gain setting range (%)
(FC-32)(FC-35)
nFb Speed detection value Maximum speed
0 to 3000.0
(Default: 100%)
tqr Torque command value Maximum torque
nrF Speed command value Maximum speed
nEr Speed deviation Maximum speed
PEr Position deviation 5 rotations of motor
iFb Current value Maximum current
PFq Command pulse frequency Maximum speed
brd
Regenerative braking
resistor duty ratio
Alarm level
(FA-08)
Note 1: Monitor output is 3.0V as in the above table when the monitor output gain is 100%.
Note 2: Output signal accuracy is within ±10%.
Note 3: Set the monitor output data for an output of 0 to ±3.0V, or 0 to 3.0V in FC-31 and FC-34.
However, "PFq" and "brd" are only positive outputs.
100.0%
0
3.0V
200.0%
nFb, tqr, nrF, nEr,
PEr, iFb, PFq, brd
±10%
1.5
-1.5
-3.0
50.0%
−(Maximum value)
+ (Maximum value)
Gain setting for monitor outputs 1, 2
(FC-32), (FC-35)