HarmonicDrive H A - 800A, Manual

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5-4 Inputs in each control mode
5-21
1
2
3
4
5
6
7
8
9
10
11
Appe
I/O
si
gnal
s
Torque command mode
Torque commands control the motor torque. The output torque of the actuator
is subject to a HarmonicDrive
®
speed reducer loss of 20 to 30%. If the
actuator's torque must be controlled accurately, provide a control system that
uses a torque sensor on the output shaft.
Example of torque command input circuit
Input impedance: 68kΩ
◆
Example of command using a variable resistor
◆
Example of command using an operation
amplifier
Setting
Input torque commands using voltage values. The motor output torque and torque command
voltage are determined according to the value set in [SP53: Torque input factor].
The motor torque direction is specified with the polarity of the torque command voltage and
[SP07: Forward select input setting] and [SP08: Reverse select input setting] and [SP50:
Command polarity].

The default setting for the value of [SP53: Torque input factor] is set according
to the maximum torque of the actuator combined with the driver.

Be sure to pay full attention to the operating speed as the torque control mode
does not include a speed limiting function.
1KΩ
1KΩ
10KΩ
12V
12V
68KΩ
33
34
TRQ-CMD
TRQ-GND
68KΩ
33
34
TRQ-CMD
TRQ-GND
CAUTION
CN2
CN2
10.0V
Torque input factor
Torque command voltage
Output torque (%) =
×