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35
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Input Signals (Velocity and Torque Control) and their Functions
Signal
Pin
Symbol
Function
I/F
No.
circuit
Velocity
(torque)
command
CCW
torque limit
CW
torque limit
＜ At velocity control ＞
・ This becomes velocity command input (analogue)
・ You can set-up the relationship between the
command voltage level and the motor speed,
with Pr50 (Velocity Command Input Gain) .
・ Use Pr51 to inverse the polarity of the command input.
＜ At torque control ＞＊
・ This becomes torque command input (analogue)
・ You can set-up the relationship between the
command voltage level and the motor torque,
with Pr5C (Torque Command Input Gain) .
・ Use Pr5D to inverse the polarity of input signals.
・ Use Pr56 (4th Speed Set-up) to adjust the
speed limit in torque control.
＜ Note ＞
SPR/TRQR are invalid in position control mode.
＜ At velocity and position control ＞
・ You can limit the motor torque in the CCW direction
by entering positive voltage (0 to +10V) to CCWTL.
・ You can limit the motor torque in the CW direction
by entering negative voltage (-10 to 0V) to CWTL.
・ The torque limit value is proportional to
the voltage with a factor of 100%/3V.
・ CCWTL and CWTL are valid when Pr03 (Torque Limit
Input Inhibit) = 0. They are invalid when Pr03 = 1.
＜ At torque control ＞＊
・ Both of CCWTL and CWTL are invalid.
・ Use the 4th. speed set-up(Pr56) to limit
the speed.
14
（15）
16
（17）
18
（17）
SPR/
TRQR
（GND）
CCWTL/
TRQR ＊
（GND）
CWTL
（GND）
AI
page 39
AI
page 39
＊When the torque control mode is selected at the velocity/torque switching mode
(Pr02 = 5), the No.16 pin (CCWTL/TRQR) becomes the torque command input
(analogue). You can set-up the relationship between the command voltage level
and the motor torque with Pr5C (Torque Command Input Gain).
Preparations and Adjustments
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