Kingservo KSDG Series, Manual

Page: 101 / 117

KingServo 101
Signal Name Pin Mark Function
CCW Torque
Limit [input] /
Torque
Command
[input]
16 CCWTL
/ TRQR
• Different functions as Pr02(control mode setting)
Pr02 Control mode Function
2
4
Torque control
position/torque
• Different functions as Pr5B(torque cammand option)
Pr5B Content
0 Input is invalid
1
• Torque command
（
TRQR
）
• Settings of gain and OFFSET of
command are as following:
Pr5C
（
torque control input gain
）
Pr5D
（
torque control input reversion
）
Pr2A
(CCW Torque command OFFSET)
5 speed/torque
• Torque command
（
TRQR
）
input
• Settings of gain and OFFSET of command are as
following:
Pr5C
（
torque control input gain
）
Pr5D
（
torque control input reversion
）
Pr2A (CCW Torque command OFFSET)
4
5
others
position/torque
other control
modes
• CCW analog torque limit input
（
CCWTL
）
• Apply positive voltage(0~+10V) to limit CCW
torque(about 3V/rated torque)
• As Pr03(torque limit option) Setting is not 0, input is
invalid.
•A/D convertor resolution of the input is 12Bit
（
including sign's Bit
）
.
±2047[LSB]= ±10[V], 1[LSB] ≒ 5.0[mV]
CW Torque
Limit [input]
18 CWTL • Change functions according to Pr02(control mode setting)
Pr02 Control mode Function
2
4
5
Torque control
position/torque
speed/torque
• As selecting torque control, input is invalid.
4
5
others
position/torque
speed/torque
other control
modes
• CW analog torque limit input
（
CWTL
）
• Apply negative voltage(0~+10V) to limit CW
torque(about 3V/rated torque)
• As Pr03(torque limit option) Setting is not 0, input is
invalid.
•A/D convertor resolution of the input is 12Bit
（
including sign's Bit
）
.
±2047[LSB]= ±10[V], 1[LSB]
≒
5.0[mV]
＊
In above complex control mode, underline of
／
represents the function is valid as
selecting the control mode.
<Remarks>
Analog command input of CWTL,CCWTL/TRQR,
voltage shall not be over±10V.