8.3 Torque Control
8.3.1 Motion Parameters for Torque Control
8-14
8.3 Torque Control
8.3.1 Motion Parameters for Torque Control
: These parameters are ignored.
( 1 ) Fixed Parameters
No.
Name
Setting Unit
Default Value
Setting Range
0
Selection of Operation Modes
−
1
0 to 5
1
Function Selection Flag 1
−
0000h
Bit setting
2
Function Selection Flag 2
−
0000h
Bit setting
4
Reference Unit Selection
−
0
0 to 3
5
Number of Digits below Decimal Point
−
3
0 to 5
6
Travel Distance per Machine Rotation
Reference unit
10000
1 to 2
31
−
1
Linear Scale Pitch
(Linear Motor)
Reference unit
10000
1 to 2
31
−
1
8
Servo Motor Gear Ratio
−
1
1 to 65535
9
Machine Gear Ratio
−
1
1 to 65535
10
Infinite Length Axis Reset Position
(POSMAX)
Reference unit
360000
1 to 2
31
−
1
12
Positive Software Limit Value
Reference unit
2
31
−
1
-2
31
to 2
31
−
1
14
Negative Software Limit Value
Reference unit
-2
31
-2
31
to 2
31
−
1
16
Backlash Compensation Amount
Reference unit
0
-2
31
to 2
31
−
1
30
Encoder Selection
−
0
0 to 3
34
Rated Motor Speed
(Rotary Motor)
min
−
1
3000
1 to 32000
Rated Speed
(Linear Motor)
0.1 m/s
,
0.1 mm/s
3000
1 to 32000
36
Number of Pulses per Motor Rotation
(Rotary Motor)
pulse
65536
1 to 2
31
−
1
Number of Pulses per Linear Scale
Pitch
(Linear Motor)
pulses/linear scale
pitch
65536
1 to 2
31
−
1
38
Maximum Number of Absolute Encod-
er Turns Rotation
Rev
65534
0 to 2
31
−
1
42
Feedback Speed Moving Average
Time Constant
ms
10
0 to 32