Veichi SD700-1R1A series, Installation And Wiring, Page: 31 / 55

31
3.5 Pn4 group torque class
Functio
n code
Parameter name Range Default value Company
Postal
address
Effective
way
Pn400
Torque command selection 0~1 1 - 0x0400
Immediat
e effect
The source of the choice of torque control is: 0- internally set 1- analog input.
Pn401
Torque command 2 order
lowpass filter cut-off
frequency
100~5000 5000 Hz 0x0401
Immediat
e effect
The cut-off frequency of the two order torque filter is set by this parameter. When the parameter is set to 5000, the
function of the filter is invalid.
Pn402
Torque command 2 order low
pass filter Q value
0.5~1 0.50 1 0x0402
Immediat
e effect
The Q value of the two order torque filter can be set by this parameter. Increasing the Q value can improve the
responsiveness of the system, but noise will be generated when it is too large.
Pn403
Torque command setting 0~1 0 - 0x0403
Immediat
e effect
0- torque command directional selection (/T-SIGN) signal is invalid.
1- torque command direction selection (/T-SIGN) signal is effective.
Pn404
Analog torque command
filtering time
0~655.35 0.00 ms 0x0404
Immediat
e effect
One delay filter is applied to the input of analog torque command (T-TEF), so that the function of smoothing the
torque command is usually not changed. If the setting value is too large, the responsiveness may be reduced.
Pn405
Analog torque command gain 10~100 30
0.1v/ rated torque
0x0405
Immediat
e effect
This parameter is used to set the analog voltage value of the servo motor rated torque (T-TEF).
Pn406
Analog torque command
inversion
0~1 0 - 0x0406
Immediat
e effect
0- positive polarity: positive voltage corresponding to positive torque command 1- negative polarity: positive voltage
corresponding to negative torque command.
Pn407
Analog torque command dead
zone
0~3 0 V 0x0407
Immediat
e effect
In analog torque control, even if the input instruction is 0V, the servomotor is likely to rotate at a low speed. This is
because there is a slight deviation in the instruction of the servo unit, and the deviation can be eliminated by setting the
appropriate analog torque limit.
Pn410
Internal torque command
during torque control
-500~500 0 % 0x0410
Immediat
e effect
Setting the torque command size when the command source of the torque control is selected internally
Pn411
Speed limit mode setting for
torque control
1 - 0x0411
Power
failure
effective
0- the smaller one of the speed corresponding to the analog voltage (V-REF) and the speed set by Pn413
1-Pn413 setting speed.
Pn412 Speed limit selection 0x00~0x01 0 － 0x0412 Power