3-101. Outline of modeTorque Control ModeFunctionNote(1) Process of analog torque command inputThis process converts the analog torque command input (voltage) to the equivalentdigital torque command having the same effect. You can set the filter or adjust the off-set to eliminate noise.• Relevant parameters of torque command 1, 3>ParameterNo. Title Range Unit FunctionPr3.18 Torque commanddirection selection 0 to 1 — Select the direction positive/negativedirection of torque command.Pr3.19 Input gain of torquecommand 10 to 100 0.1V/100%Based on the voltage (V) applied to theanalog torque command (TRQ R), set upthe conversion gain to torque command(%).Pr3.20 Input reversal of torquecommand 0 to 1 — Set up the polarity of the voltage appliedto the analog torque command (TRQR).Pr4.22 Analog input 1 (AI1)offset setup−5578 to5578 0.359mV Set up the offset correction value appliedto the voltage fed to the analog input 1.Pr4.23 Analog input 1 (AI1)filter 0 to 6400 0.01msSet up the time constant of 1st delay filterthat determines the lag time behind thevoltage applied to the analog input 1.• Relevant parameters of torque command 2>ParameterNo. Title Range Unit FunctionPr3.18 Torque commanddirection selection 0 to 1 — Select the direction positive/negativedirection of torque command.Pr3.19 Input gain of torquecommand 10 to 100 0.1V/100%Based on the voltage (V) applied to theanalog torque command (TRQ R), set upthe conversion gain to torque command(%).Pr3.20 Input reversal of torquecommand 0 to 1 — Set up the polarity of the voltage appliedto the analog torque command (TRQR).Pr4.25 Analog input 2 (AI2)offset setup −342 to 342 5.86mV Set up the offset correction value appliedto the voltage fed to the analog input 2.Pr4.26 Analog input 2 (AI2)filter 0 to 6400 0.01msSet up the time constant of 1st delay filterthat determines the lag time behind thevoltage applied to the analog input 2.For details of these parameters, refer to P.4-28 and 37 “Details of parameter”.
