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Chapter 5 Data Used for Positioning Control
Setting item Setting details
[Cd.147] Speed limit value at
continuous operation to
torque control mode
Set the speed limit value at continuous operation to torque control mode.
Set a value within the following range:
[Pr.1] Unit
setting
mm
(
10
-2
mm/min)
inch
(
10
-3
inch/min)
degree
(
10
-3
degree/min)
PLS
(PLS/s)
Setting range
-2000000000 to
2000000000
-2000000000 to
2000000000
-2000000000 to
2000000000
-1000000000 to
1000000000
: When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid,
this will be the setting range -2000000000 to 2000000000 (
10
-2
degree/min).
Fetch cycle: Operation cycle (At continuous operation to torque control mode)
[Cd.148] Acceleration time at
continuous operation to
torque control mode
Set the acceleration time at continuous operation to torque control mode.
(Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".)
0 to 65535 (ms)
Fetch cycle: At control mode switching
[Cd.149] Deceleration time at
continuous operation to
torque control mode
Set the deceleration time at continuous operation to torque control mode.
(Set the time for the speed to decrease from "[Pr.8] Speed limit value" to "0".)
0 to 65535 (ms)
Fetch cycle: At control mode switching
[Cd.150] Target torque at continuous
operation to torque control
mode
Set the target torque at continuous operation to torque control mode. Set a ratio
against the rated torque in 0.1% unit.
-10000 to 10000 (
0.1%)
Fetch cycle: Operation cycle (At continuous operation to torque control mode)
[Cd.151] Torque time constant at
continuous operation to
torque control mode
(Forward direction)
Set the time constant at driving during continuous operation to torque control
mode.
(Set the time for the torque to increase from "0" to "[Pr.17] Torque limit setting
value".)
0 to 65535 (ms)
Fetch cycle: At control mode switching