1 Outline1.3.3 Speed/Position/Torque Control Modes1-61.3.3 Speed/Position/Torque Control ModesThe following table shows the basic specifications at speed/position/torque control mode.Control Mode SpecificationsSpeed ControlPerformance Soft Start Time Setting 0 to 10 s (Can be set individually for acceleration anddeceleration.)InputSignalsReference Voltage• Max. input voltage: ±12 V(forward speed reference with positive reference)• Factory setting: 6 VDC at rated speedInput gain setting can be varied.Input Impedance About 14 kΩ minimumCircuit Time Constant 30 μsInternal SetSpeed ControlRotation DirectionSelection With P control signalSpeed SelectionWith forward/reverse torque limit signal (speed 1 to 3selection), servomotor stops or another control method isused when both are OFF.Position ControlPerformanceFeedforwardCompensation 0 to 100% (setting resolution: 1%)PositioningCompleted WidthSetting0 to 1073741824 reference units (setting resolution: 1 ref-erence unit)InputSignalsRefer-encePulseType Sign + pulse train, 90° phase difference 2-phase pulse(phase A + phase B), or CW + CCW pulse trainForm For line driver, open collectorMax. InputPulseFrequencyLine driverSign + pulse train, CW + CCW phase train: 4 Mpps90° phase difference 2-phase pulse: 1 MppsOpen CollectorSign + pulse train, CW + CCW phase train: 200 kpps90° phase difference 2-phase pulse: 200 kppsClear Signal Error pulse clearFor line driver, open collectorTorque Control InputSignalsReference Voltage• Max. input voltage: ±12 V(forward torque reference with positive reference)• Factory setting: 3 VDC at rated torqueInput gain setting can be varied.Input Impedance About 14 kΩ minimumCircuit Time Constant 16 μs
