Higen FDA7000 Series, Operation Manual

Page: 146 / 214

5. Servo operating
4-15
4.3. Gain adjustment method for torque control mode
This explains the torque servo using method and gain adjustment method. The following
diagram shows the generation sequence of the current command during torque control.
+
[T
o
rq
ue
c
om
m
a
nd
T
C
(P
06
-0
1)
]
+
-
1
1
00
0
+
1
st
fil
te
r
[D
ig
ita
l i
np
u
t s
p
ee
d
1
(P
0
4-
01
)]
S
pe
ed
li
m
it
se
le
ct
io
n
(S
P
D
1,
S
P
D
2
)
(O
F
F
,O
F
F
)
(O
N
,O
N
)
(O
F
F
,O
N
)
(O
N
,O
F
F
)
S
p
ee
d
de
te
ct
io
n
E
n
co
d
er
S
p
ee
d
li
m
it
op
e
ra
tio
n
In
te
rn
al
c
ur
re
n
t
co
m
m
a
nd
[1
0
V
T
or
qu
e
(P
0
6-
07
)]
10
0
0
R
a
te
d
to
rq
u
e
S
pe
ed
li
m
it
0 1
[+
10
V
S
p
ee
d
(P
0
3-
15
)]
10
1
1
00
0
[O
ffs
et
v
ol
ta
ge
s
et
tin
g
(
P
03
-1
8)
]
+
+
(T
R
Q
IN
)
(
)
:
C
o
nt
ac
t p
o
in
t i
np
ut
[
] :
S
e
t v
a
lu
e
S
P
D
L
IM
(O
N
)
(O
F
F
)
[D
ig
ita
l i
np
u
t s
p
ee
d
2
(P
0
4-
02
)]
[D
ig
ita
l i
np
u
t s
p
ee
d
3
(P
0
4-
03
)]
[-
10
V
S
p
ee
d
(P
03
-1
6
)]
10
[C
C
W
s
pe
e
d
lim
it
(P
0
2-
0
5)
]
[C
W
s
pe
ed
li
m
it
(P
02
-0
6)
]
[O
ffs
et
v
ol
ta
ge
a
ut
o
ad
ju
st
m
en
t
(P
0
3-
17
)]
[O
ff
se
t
vo
lta
ge
s
et
tin
g
(
P
06
-0
9)
]
[O
ff
se
t
vo
lta
ge
a
ut
o
ad
ju
st
m
en
t
(P
0
6-
08
)]
A
cc
el
e
ra
tio
n/
de
ce
le
ra
tio
n
pr
oc
es
s
[A
cc
el
er
a
tio
n
tim
e
(P
0
6-
02
)]
[D
ec
e
le
ra
tio
n
ti
m
e
(P
0
6-
03
)]
*
A
na
lo
g
sp
ee
d
lim
it