Chapter 6. Parameter Setting
6-27
6.7 Torque control parameters (Torque Mode: P5--)
(Caution !) Menus marked with "*" cannot be corrected during Servo-On.
Menu Menu name Unit Display range Initial value Mode
*P5-01 TRQ CMD TC[ms] ms 0.0 ~ 1000.0 0.0 SPT
Torque control: Set the filter time constant of the torque command input terminal.
Speed or position control: Set the filter time constant of the torque control input terminal.
Noise occurs because the torque command (limit) is loaded to the input terminal, and this
menu is used to eliminate this noise. If large value is selected, noise is reduced
considerably; however, the transient characteristics of the torque command (limit) being
loaded is reduced.
Input 0 in case it is not needed to use this filter.
Menu Menu name Unit Display range Initial value Mode
P5-02 10V Torque % 0 ~ 300 100 SPT
Torque control: Input the output torque in terms of [%] of the rated torque when loading the
analog torque command 10[V]. In other words, in case of 100, the servo outputs 100[%] of
the rated torque when 10[V] is applied.
Speed or position control: Input the output torque limit value in terms of [%] of the rated
torque when the analog torque limit 10[V] is loaded. This means that in case of 100, the
servo is limited at 100[%] of the rated torque when 10[V] is applied.
Menu Menu name Unit Display range Initial value Mode
P5-03 Torque OFFS mV -1000.0 ~ 1000.0 0.0 T
As the torque command is the analog level, offset exists on the command value. In such
case, the command offset can be compensated if the value of this item is loaded in terms of
[mV].
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