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Chapter 5 Data Used for Positioning Control
Setting item Setting details
[Cd.142] Deceleration time at speed
control mode
Set the deceleration time at speed 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.143] Command torque at torque
control mode
Set the command torque at torque control mode. Set a ratio against the rated
torque in 0.1% unit.
-10000 to 10000 (
0.1%)
Fetch cycle: Operation cycle (At torque control mode)
[Cd.144] Torque time constant at
torque control mode
(Forward direction)
Set the time constant at driving during 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
[Cd.145] Torque time constant at
torque control mode
(Negative direction)
Set the time constant at regeneration during torque control mode.
(Set the time for the torque to decrease from "[Pr.17] Torque limit setting value" to
"0".)
0 to 65535 (ms)
Fetch cycle: At control mode switching
[Cd.146] Speed limit value at torque
control mode
Set the speed limit value at 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 0 to 2000000000 0 to 2000000000 0 to 2000000000
0 to
1000000000
: When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid,
this will be the setting range 0 to 2000000000 (
10
-2
degree/min).
Fetch cycle: Operation cycle (At torque control mode)