8.8 P3-xx Torque control parameters Important: In the torque control mode, reverse direction is defined as:the rotating direction of the motor in opposite to the torque command direction. This circumstance may occur when there is an external drag in the reverse direction Parameter functions: Select the torque setting command source: P3-00 = 0 : Torque P3-01 setting, symmetrical between the forward and reverse directions; P3-00 = 1 : Torque P3-01 setting, with the reverse direction limited by P3-02; Parameter functions: In the torque control mode, set the target torque value and direction of the motor, with the rated torque as reference. Parameter functions:
In the torque control mode, set the torque limit of the motor in the reverse direction. Parameter functions: In the torque control mode, set the speed limit in the torque command direction. Parameter functions: When |the set torque - the actual torque|≤P3-06, output of the DO terminal defined as torque consistency (T-CMP) is valid.
123 Technical Manual for EA190 Series Servo Driver V100 P3-00 Selection of torque setting command source Initial value 0 Communication address 0300H Unit - Time of taking effect With immediate effect Setting range 0~1 Data size 16bit Control mode T P3-01 Digital torque setting Initial value 100.0 Communication address 0301H Unit % Time of taking effect With immediate effect Setting range -500.0~500.0 Data size 16bit Control mode T P3-02 Reverse torque limit Initial value 300.0 Communication address 0302H Unit % Time of taking effect With immediate effect Setting range 0.0~500.0 Data size 16bit Control mode T Caution☞ Reverse direction refers to the rotating direction of the motor in opposite to the torque command direction.
P3-05 Speed limit in the torque command direction upon torque control Initial value 100 Communication address 0305H Unit rpm Time of taking effect With immediate effect Setting range 0~6000 Data size 16bit Control mode T P3-06 Torque consistency threshold Initial value 5.0 Communication address 0306H Unit % Time of taking effect With immediate effect Setting range 3.0~100.0 Data size 16bit Control mode T