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B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
6.4. Torque Control Mode Operation
l Torque control mode is not available to the B3 and 23 type Driver Units.
l The parameter SL selects the torque control mode.
l You may select either positioning with RS-232C position command or analog torque command
in the torque control mode. The parameter AC selects the way of positioning.
6.4.1. RS-232C Communication Command Operation
l You may control directly the Motor output torque with RS-232C communication command in
the torque control mode.
l Set the parameter AC (AC0) to make the DC command valid.
l Relation between the data of DC command and the Motor output torque is shown in Figure 6-30.
Figure 6-30
CW
Max. torque
- 4095
l Output torque of the Motor depends on the Motor type.
SL1: Torque control mode
SL2: Velocity control mode
SL3: Position control mode
AC0 : Analog command invalid. DC command is valid.
AC1 : Analog command valid. When analog torque command is +: CCW rotation
AC–1 : Analog command valid. When analog torque command is –: CW rotation
Input as
D
C
to control the Motor with torque proportional to the parameter data.
+ 4095
CCW
Max. torque
— 6-37 —
6.4.1. RS232C Communication Command Operation
（data）
ENT
6.4. Torque Control Mode Opeation
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