Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

8.7 Operating Using Torque Control8.7 Operating Using Torque Control8.7.1 Setting ParametersThe following parameters must be set for torque control operation with analog voltage reference.ParameterMeaningPn000 n.2 Control mode selection: Torque control (analog voltage reference)Pn400 Torque Reference Input GainSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation10 to 1000.1V/rated torque 30 Immediately(1.0 to 10.0 V/rated torque)This sets the analog voltage level for the torque reference (T-REF) that isnecessary to operate the servomotor at the rated torque.Reference torqueRated torque• EXAMPLEPn400 = 30: The servomotor operates at the rated torque with 3-V input(factory setting).Reference voltage (V)This reference voltage is set.Pn400 = 1000: The servomotor operates at the rated torque with 10-Vinput.Pn400 = 200: The servomotor operates at the rated torque with 2-V input.8.7.2 Torque Reference InputBy applying a torque reference determined by the analog voltage reference to the SERVOPACK, the servomotortorque can be controlled in proportion with the input voltage.TypeSignalNameConnectorPin NumberNameInput T-REF CN1-9 Torque Reference InputSG CN1-10 Signal Ground for Torque Reference InputUsed during torque control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)The torque reference gain is set in Pn400. For setting details, refer to 8.7.1 Setting Parameters.• Input Specifications• Input range: ±1 to ±10VDC/rated torque• Max. allowable input voltage: ±12 VDC• Factory setting-12 -8Pn400 = 30: Rated torque at 3 VFactory setting+3-V input: Rated torque in forward direction+9-V input: 300% rated torque in forward direction-0.3-V input: 10% rated torque in reverse directionThe voltage input range can be changed with parameter Pn400.Reference torque (%)-43002001000 3 4 8 12Input voltage (V)- 100- 200- 300Set the slopewith Pn400.8• Input Circuit ExampleUse twisted-pair wires as a countermeasure against noise.Variable resistor example: Model 25HP-10B manufactured by SakaeTsushin Kogyo Co., Ltd.SERVOPACK470 Ω 1/2 W min.CN1+12 VT-REF 92 kΩSG 108-61