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ProNet Series AC Servo User's Manual
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4.11.8 Torque Detection Output (/TCR)
Type Signal Name Connector Pin Number Setting Meaning
Output /TCR
Not including this setting in
the default setting,please
choose terminal output by
setting parameter Pn511
ON ＝ L
Motor output torque is higher than Pn529
setting value.
OFF ＝ H
Motor output torque is lower than Pn529
setting value.
Torque detection output time is set by Pn530.
Parameter Pn511 description as following ：
0 /COIN (/V-CMP) output
1 /TGON rotation detecting output
2 /S-RDY servo drive get ready output
3 /CLT torque limit output
4 /BK brake interlock output
5 /PGC encoder C pulse output
6 OT overtravel signal output
7 /RD servo enabled motor excitation output
8 /HOME home completion output
9 /TCR Torque Detection Output
4.12 Online Autotuning
4.12.1
Online Autotuning
Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parameters so that
the servo gains are consistent with the machine rigidity.
Online autotuning may not be effective in the following cases:
• The motor high speed is lower than 100 rpm.
• The motor acceleration or deceleration is lower than 5000rpm/s.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
•The speed load moment is changed greatly.
• Mechanical gas is very large.
If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning,
set the value in Pn106 (Load inertia percentage) and perform the adjustment manually.