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User Constant Settings and Functions
5.2.7 Using Torque Control
Pn000.1
9
8
5
6
Note Input signal /C-SEL can be used only when a signal is allocated to the input circuit. See 5.3.3 Input Circuit
Signal Allocation.
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Speed Control: When /P-CON (/C-SEL) is ON
Set the user constant Pn002.0 as shown below.
User Constant
Pn002.0
0
- -
1
Torque limit input
2
Torque feed-forward in-
put
Position Control $ Torque Control
Can be used to switch between speed (contact reference) and torque control.
S /P-CON (/C-SEL)(CN1-41) is used to switch control.
CN1-41 is open.
Position control
CN1-41 is 0 V.
Torque control
Position Control When /P-CON (/C-SEL) is OFF
Set the user constant Pn002.0 as shown below.
User Constant
Pn002.0
0
- -
1
Torque limit input
2
Torque feed-forward in-
put
Speed Control (Contact Reference) $ Torque Control
Can be used to switch between speed (contact reference) and torque control.
S /P-CON (/C-SEL)(CN1-45) and /N-CL(SPD-B)(CN1-46) are used to switch control.
/P-CL (/SPD-A)
CN1-45
0
0
1
1
Control Method
Torque Reference
Input
(T-REF) (CN1-9,10)
Normal speed control
Torque limit speed con-
trol by analog voltage
reference
Speed control with
torque feed-forward
Torque Reference
Input
(T-REF) (CN1-9,10)
Normal position control
Torque limit position
control by analog volt-
age reference
Position control with
torque feed-forward
/N-CL (/SPD-B)
CN1-46
0
Torque control
1
Speed control
Speed control
1
(Contact reference)
(Contact reference)
0
5 -38
Contents
Remarks
See 5.2.10 for more de-
tails on torque limit
speed control by analog
voltage reference.
See 5.2.8 for more de-
tails on torque feed-for-
ward speed control.
Contents
Remarks
See 5.2.10 for more de-
tails on torque limit
position control by ana-
log voltage reference.
See 5.2.8 for more de-
tails on torque feed-for-
ward position control.
- -
0: OFF
1: ON
1: ON
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