Parker P Series, User Manual, Page: 138 / 316

Parker Hannifin
P Series User Guide 136
6.5 Torque Control
The purpose of torque control is to control such as tension or pressure of machine part by
voltage desired torque from upper controller.
Select ‘3’ in the control mode[0x3000]
For command torque, Enter analog -10[V] ~ +10[V] voltage to no.7 and no.8 on I/O
connector.
The Block diagram of velocity control mode is as below.
Torque Offset (0x60B2)
Torque Actual Value (0x6077)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Generate
Torque
Command
Velocity
Control
Torque
Control
+
+
M
Enc.
Velocity
Calculation
Position
Calculation
OP Mode : Torque
6
7
8
1
Analog Torque Command(A-TLMT)
Speed Limit Value at Torque control Mode(0x230E)
Analog Torque Command Filter Time Constant(0x2228)
Analog Torque Input(command/limit) Offset(0x221D)
Analog Torque Input(command/limit) Scale(0x221C)
Index
Sub
Index
Name
Variable
Format
Accessibility
PDO
Allocation
Unit
0x2121 - Drive Status Output1 UINT RO Yes -
0x2122 - Drive Status Output2 UINT RO Yes -
0x6062 - Position Demand Value DINT RO Yes UU
0x60FC - Position Demand Internal Value DINT RO Yes pulse
0x6063 - Position Actual Internal Value DINT RO Yes pulse
0x6064 - Position Actual Value DINT RO Yes UU
0x60B1 - Velocity Offset DINT RW Yes UU/s
0x60B2 - Torque Offset INT RW Yes 0.1%
0x606C - Velocity Actual Value DINT RO Yes UU/s
0x6077 - Torque Actual Value INT RO Yes 0.1%
0x6065 - Following Error Window UDINT RW No UU
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