Veichi SD710 Series, User Manual

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SD710 Series Servo User Manual Chapter 9 Parameter description
66
Pn402 Torque command second-order low-pass filter Q О
Communication
address: 0x0402
Factory value: 0.50 Setting range: 0.50 ~ 1.00 Unit: N/A
Control mode.
□
T
Pn403 Direction of torque command О
Communication
address: 0x0403
Factory value: 0x0000 Setting range: 0x0000~0x0001 Unit: N/A
Control mode.
□
T
Setting value Instructions Note
0
Same direction with torque command -
1
Reverse with torque command -
Cautions
● Function code Pn403 with external terminal torque command direction (TPR -D) is valid for the
internal register torque command.
● The logic for combining function code Pn403 with the external terminal torque command direction
(TPR-D) is as follows (using the CCW direction as a positive reference).
Given
Torque
command
External
terminals
TPR-D Pn403.X
Reality
direction of
instruction
Positive
instruction
OFF
0
positive
instruction
1 anti-directive
ON
0 anti-directive
1
positive
instruction
Negative
instruction
OFF
0 anti-directive
1
positive
instruction
ON
0
positive
instruction
1 anti-directive
Pn404 Torque command filtering time О
Communication
address: 0x0404
Factory value: 0.00 Setting range: 0.00 ~ 655.35 Unit: ms
Control mode.
□
T
Parameter
Description
Applying a first-order low-pass filter to the torque command input makes the torque command
smooth.
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