Parameter functions: Set the threshold for output of torque reached signal. When the motor current reaches and exceeds this set value, output of the DO terminal defined as T_CLS is valid. Parameter functions: Set the change slope of the torque command, i.e. the change amplitude of the torque command per ms, with the rated motor torque as reference. P3-08: For a torque command subject to digital setting, when the absolute value of the torque command increases, the torque actually output will increase by the slope set with this parameter; P3-09:
For a torque command subject to digital setting, when the absolute value of the torque command decreases, the torque actually output will decrease by the slope set with this parameter; 124 Technical Manual for EA190 Series Servo Driver V100 Caution☞ As there is 3% lagging, the actual detection width of torque consistency is: Consistency output OFF→ON: P3 06-3% ON→OFF: P3 06+3% P3-07 _ Reached torque Initial value _ 100.0 Communication address 0307H Unit % Time of taking effect With immediate effect Setting range 3.0~500.0 Data size 16bit Control mode P S T Caution☞ As there is 3% lagging, the actual detection width of torque reached is: Torque reached output OFF→ON: P3 07+3% ON→OFF:
P3 07-3% P3-08 Torque command increase slope Initial value 500.0 Communication address 0308H Unit % Time of taking effect With immediate effect Setting range 0.1~500.0 Data size 16bit Control mode T P3-09 Torque command decrease slope Initial value 500.0 Communication address 0309H Unit % Time of taking effect With immediate effect Setting range 0.1~500.0 Data size 16bit Control mode T Caution☞ When the upper computer gives a step torque command, these two parameters can be used for smoothing, so as to reduce jittering; yet in this case, the response speed of the system will also be reduced.