Veichi SD700-110D series, Руководство пользователя

Страница: 34 / 50

30
3.5 Pn4 Torque Parameters
Function
code
Parameters Range Default Unit Address
Effective
way
Pn400
Torque command
selection
0~1 1 - 0x0400 INST
Select the command source of torque control: 0-internal setting 1-analog input
Pn401
Torque command 2nd
order low pass filter
cutoff frequency
100~5000 5000 Hz 0x0401 INST
Use this parameter to set the cutoff frequency of the second-order torque filter. When this
parameter is set to 5000, the filter function is invalid
Pn402
Torque command 2nd
order low-pass filter Q
value
0.5~1 0.50 1 0x0402 INST
Use this parameter to set the Q value of the second-order torque filter. Increasing the Q value can
improve the system responsiveness, but if the setting is too large, noise will be generated
Pn403
Torque command
direction setting
0~1 0 - 0x0403 INST
0- Torque command direction selection (/ T-SIGN) signal is invalid
1- Torque command direction selection (/ T-SIGN) signal is valid
Pn404
Analog torque
command filter time
0~655.35 0.00 ms 0x0404 INST
The function of applying a delay filter to the input of the analog torque command (T-REF) to
smooth the torque command usually does not need to be changed. If the setting value is too large,
the responsiveness may be reduced. Please confirm while responding. set up
Pn405
Analog torque
command gain
10~100 30
0.1V/rated
torque
0x0405 INST
Use this parameter to set the analog voltage value required for the rated torque of the servo motor
(T-REF)
Pn406
Reversed analog torque
command
0~1 0 - 0x0406 INST
0-positive polarity: positive voltage corresponds to positive torque command
1-negative polarity: positive voltage corresponds to negative torque command
Pn407
Analog torque
command dead area
range
0~3 0 V 0x0407 INST
During analog torque control, even if the input command is 0V, the servo motor may rotate at a
slight speed. This is because the command within the servo unit has a slight deviation, which can
be eliminated by setting an appropriate analog torque command dead band range
Pn410
Internal torque
command under torque
control
-500~500 0 % 0x0410 INST
Select the torque control command source as the internal torque command size setting
Pn411 Speed limit mode 1 - 0x0411 RST