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5-8-3. Torque command offset autoadjustment (F1-04)
The motor will run at microspeed even the command voltage is 0V in analog voltage
torque mode. This situation will happen when host controller or the command voltage of
external circuit has micro-offset (mV). Use the operate panel to auto-adjust the offset.
Refer to chapter 4-4-2.
5-8-4. Torque command filter time
torque command filter time
1-time delay filter will smooth the torque command. If set the value too large, the reponse will be
decreased.
5-8-5. Torque limit
5-8-5-1. Internal speed limit
Limit the speed of torque control by setting below parameters:
5-8-5-2. External speed limit
Limit the speed output of torque control mode by the analog voltage command input from
V-REF terminal.
V-REF function
distribution
Make V-REF as external
speed limit input
1. The analog voltage has no polarity. The absolute value of the voltage is suitable for forward and
reverse direction.
2. The parameter value is related to voltage command and P3-00 when it is used as speed limit value.
For example: P3-00=500 (voltage of rated speed is 5.0V), T-REF voltage command is 1.0V, the
speed limit is 20% of rated speed.
3. P0-08=1, the actual limit value is the smaller value among V-REF speed limit input and P4-07.
internal speed limit in torque control mode
Note: the actual speed is max speed even this parameter speed is larger than the max speed.
Note: 1. P3-09 is effective in all modes.
2. Default setting is different for each type. For example: max speed is 2000 for rated speed 1500
motor, max speed is 4000 for rated speed 3000 motor.
3. This parameter is related to E-008 and E-010. If motor speed is larger than max speed+200, servo
will show E-008 over-speed. If the pulse frequency converts to motor speed, the speed is larger than
max speed; but the actual motor speed is max speed. Then the pulse offset will accumulate, servo will
show E-010 alarm.
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