Technical Manual for EA350 Analog Pulse Type Servo Driver V101 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; P3-00=2 : Torque P3-01 setting, with the reverse direction limited by AI1; P3-00=3 :
Torque P3-01 setting, with the reverse direction limited by AI2; P3-00=4 : Torque AI1 setting, symmetrical between the forward and reverse directions; P3-00=5 : Torque AI1 setting, with the reverse direction limited by P3-02; P3-00=6 : Torque AI1 setting, with the reverse direction limited by AI2; P3-00=7 : Torque AI2 setting, symmetrical between the forward and reverse directions; P3-00=8 : Torque AI2 setting, with the reverse direction limited by P3-02; P3-00=9 : Torque AI2 setting, with the reverse direction limited by AI1; Important:
When the torque command is set by AI1\AI2 , torque command = AI1\ AI2 *P3-01 10V When the reverse torque is limited by AI1\AI2 , limit = AI1\AI2 *P3-02 10V Both the analogs AI1 and AI2 are of ±10V input. P3-01 setting can be positive or negative, and hence the direction of torque command is determined by the product of these two (Two negatives make a positive). If analog input is +10V only and you wish to change the output direction of motor torque, a number of options are available: By changing the status of the DI terminal defined as TDIR-SEL By changing the sign of P3-01 By changing P0-01 Caution ☞ Parameter functions:
In the torque control mode, set the target torque value and direction of the motor, with the rated torque as reference. When the analog input is used as the torque setting command source, this parameter can be interpreted as the analog gain. For example, if P3-00=4 and P3-01=200.0, the torque command is 100% rated torque of forward rotation when AI1 is 5V, and 200% rated torque of reverse rotation when AI1 is -10V. Parameter functions: In the torque control mode, set the torque limit of the motor in the reverse direction. When the analog input is used as the command source of reverse torque limit, this parameter can be interpreted as the analog gain.
Caution ☞ Reverse direction refers to the rotating direction of the motor in opposite to the torque command direction. Parameter functions: Selects command source that limits motor rotation speed in torque control mode.
148 P3-00 Selection of torque setting command source Initial value 0 Communication address 0300H Unit - Time of taking effect With immediate effect Setting range 0~9 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 P3-04 Selection of speed limit command source for torque command direction Initial value 0 Communication address 0304H Unit - Time of taking effect With immediate effect Setting range 0~2 Data size 16bit Control mode T