⑶ Select Rotation Direction By Pn - BONMET SDL10A User Manual

4.7.3 Operation Flow Chart
Set Pn-4 to 0
Set analog gain
of torque control
by Pn-15
Select rotation
direction
Set the speed
limit in torque
control mode
Set ServoEn ON
Analog input
drift
compensation
Host sends pulse
command for a
trial operation
Adjust the servo
gain
4.7.4 Function
1． Analog gain setting function（Related parameters：Pn-15）
Set the ratio between the input voltage of analog torque and actual motor torque. ， they are proportional
relationship.
Value of Pn-15=(Max. input/Max. torque command)×10。 The default value is 100， which means 10Vsupport 100%
torque.
Item
Torque command
Relationship
of input
voltage and
output
torque
⑴ Select torque control mode.
⑵ Set the analog gain to select the relationship between analog voltage
and torque command, 100% output torque according to 10V for default.
⑶ Select rotation direction by Pn-17 or switch the direction by digital
input "
⑷ Set the speed limit in torque control mode by Pn-42.
⑸ Set signal "ServoEn"ON or set Pn-8 to 100000, and the motor get
the power.
⑹ Set parameter Pn-16 to clear the analog input drift.
⑺ In no-load conition (leave the motor shaft free), send pulse command
for forward, reverse, acceleration / deceleration and other operation
for a trial operation.
⑻ Make a trial processing and adjust the servo gain according to the
running status.
Figure 5-22 Operation Flow Chart
Pn-15=50
100%
Analog
-5V +5V
0V
voltage
-100%
BONMET motion GmbH/www.bonmet.com/www.bonmet.de
"
Logic_STOrder_Invert
Pn-15=100
Torque command
100%
+10V
-10V
0V
-100%
Pn-15=200
Torque command
50%
Analog
-10V
voltage
+10V
Analog
0V
voltage
-50%
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