1 Outline1.4.3 Speed/Position/Torque Control1-101.4.3 Speed/Position/Torque ControlThe following table shows the basic specifications of the SERVOPACKs at speed/position/torque control.Control Method SpecificationsSpeed ControlPerformance Soft Start Time Setting 0 to 10 s (Can be set individually for acceleration anddeceleration.)Input SignalsReference 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 Approx. 14 kΩCircuit Time Constant 30 μsInternal SetSpeed ControlRotation Direction Selection With P control signalSpeed SelectionWith forward/reverse external torque limit signal (speed 1to 3 selection).Servomotor stops or another control method is used whenboth are OFF.Position ControlPerformanceFeedforward Compensation 0% to 100%Positioning CompletedWidth Setting 0 to 1073741824 reference unitsInput SignalsReferencePulseTypeSelect one of them:Sign + pulse train, CW + CCW pulse train, or two-phasepulse train with 90° phase differentialForm For line driver, open collectorMax. InputPulse Fre-quencyLine driverSign + pulse train, CW + CCW pulse train: 4 MppsTwo-phase pulse train with 90° phase differential:1 MppsOpen CollectorSign + pulse train, CW + CCW pulse train: 200 kppsTwo-phase pulse train with 90° phase differential:200 kppsReferencePulse InputMultiplicationSwitching1 to 100 timesClear Signal Position error clearFor line driver, open collectorTorque Control Input SignalsReference 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 Approx. 14 kΩCircuit Time Constant 16 μs
