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84
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7.3 Torque control mode
Servo motor output torque is controlled. Speed control function is also available.
* To set [PC**], set parameter write restriction [PA19] to "00E".
7.3.1 Torque Control Mode Operation Instruction
The servo motor will rotate when signal RS1 and RS2 turn on. An operation example of the torque control mode is
shown below. Internal torque command settings:
Torque is controlled by the internal torque command set in parameter No. PC12.
If the internal torque command is small, the torque may vary when the actual speed reaches the speed limit value. In
such case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation selection (RS1) and
the reverse rotation selection (RS2) when the internal torque command (parameter No. PC12) is used.
(Note) Input device
Rotation direction
Forward rotation (CCW)
Reverse rotation (CW)
RS2
RS1
Internal torque command (parameter No. PC12)
0.1 to 100.0%
0.0%
0
0
Torque is not generated.
Torque is not
generated.
0
1
CCW (reverse rotation in driving
mode/forward rotation in
regenerative mode)
1
0
CW (forward rotation in driving
mode/reverse rotation in
regenerative mode)
1
1
Torque is not generated.
Note. 0: off
1: on
Generally, make connection as shown below.
Note that the inputs are configured as Current sink NPN Type
SP2
SP3
DOCOM
DICOM
Servo amplifier
SP1
24VDC
(Note 2)
RS2
RS1
(Note 1)
Refer to
“LECSA Operation Manual (Simplified Edition)”, section 5.5 for assignment of signal.
(Note) Input device
Speed command value
SP3
SP2
SP1
0
0
0
Internal speed command 0 (parameter No. PC05)
Initial
phase
0
0
1
Internal speed command 1 (parameter No. PC06)
0
1
0
Internal speed command 2 (parameter No. PC07)
0
1
1
Internal speed command 3 (parameter No. PC08)
1
0
0
Internal speed command 4 (parameter No. PC31)
1
0
1
Internal speed command 5 (parameter No. PC32)
1
1
0
Internal speed command 6 (parameter No. PC33)
1
1
1
Internal speed command 7 (parameter No. PC34)
Note. 0:OFF
1:ON
For LECSA, 8 patterns of speed setting are available.
LECSA speed restricted parameter setting
Assignment of signals in the initial setting
- LECSA: SP1
Assign signals "speed selection 2 (SP2) and
speed selection 3 (SP3) "when the driver is used
to up to [Internal speed command 7].
Driver
Forward rotation start
Peverse rotation start
Speed selection 1
Speed selection 2
Speed selection 3
