140
Trial run at Torque Contr ol Mode

Operation with CN X5 Connected

1) Connect CN X5.

2) Connect the control signal (COM+/COM–) to the power supply (12 to 24 VDC) .

3) Turn the main power (driver) ON.

4) Check the defaults of the parameters.

5) Connect between SRV-ON (CN X5 pin 29) and COM- (CN X5 pin 41) to make Servo-On active. The motor

will be kept excited.

6) Apply an appropriate DC voltage between Torque command input TRQR (CN X5 pin 14) and GND (CN X5

pin 15) and verify the motor rotating direction (CW/CCW) and then reverse the voltage polarity and then

verify reversed motor rotation. Also check the speed set by Pr56.

7) To change torque Pr5C, direction Pr5D and speed limit Pr56 in response to the command voltage,

modify the following parameter.

Pr56: 4th speed

Pr5C: torque command input gain

Pr5D: torque command input inversion

See page 144 "Parameter setting" in Torgue control mode.

COM+
SRV-ON
SPR/TRQR
GND
ZEROSPD
COM–
7
29
14
15
26
41
D
C
1
2V– 24V ZEROSPD switc
h
Close: Run
Open: Stop
One way
operation
For multi directio
n
(CW and CCW)
operation, use a
bipolar power
source.
DC
10V

Wiring Diagram Parameters

Input Signals Status

PrNo.
No. Input signal Monitor
display
Pr02
Pr04
Pr06
Pr56
Pr5C
Pr5D
0
2
3
5
+ A
–
–
–
Servo-ON
CW overtravel inhibit
CCW overtravel inhibit
Speed zero clamp
2
1
0
Set as
require
d
Control mode set-up
Overtravel input inhibit
ZEROSPD input selection
4th internal speed
Torque command input gain
Torque command input inversion
ValueParameter description
•
Use the controller to send command pulses.