8.7 P07 Torque Control Parameter Group

P07-00

Torque command selection

0-Torque command A

1- Torque command B

2-Torque command A+torque command B

3- Torque command A/B, switchable

4- Communication Given (P31-10)

--

0

Effective immediately

Stop setting

Ordinary users

P07-01

Source of torque command A

0-Internal number given (P7-03)

1- Analog Channel 1 Input (AI1)

2- Analog Channel 2 Input (AI2)

--

0

Effective immediately

Stop setting

Ordinary users

P07-02

Source of torque command B

0-Internal number given (P7-03)

1- Analog Channel 1 Input (AI1)

2- Analog Channel 2 Input (AI2)

--

0

Effective immediately

Stop setting

Ordinary users

P07-03

Torque command keyboard setting

-3000~3000

‰

0

Effective immediately

Set anytime

Ordinary users

P07-04

Source of torque limitation

0-Internal torque limit, using P7-05 and P7-06 limits

1-Torque limit switchable forward torque limit: P-CL selects P7-05/P7-07 Reverse torque limit: N-CL selects P7-06/P7-08

2- Use analog/object dictionary to limit torque

3- Use analog/object dictionary to limit torque, P-CL, N-CL control whether to enable external torque limits P7-07, P7-08 respectively. If external torque limits are enabled, take the smaller of analog and external torque as the limit

4-Torque limit switchable forward torque limit: P-CL selects P7-04/Analog (Ethercat) Reverse torque limit: N-CL selects P7-05/Analog (Ethercat)

--

0

Effective immediately

Set anytime

Ordinary users

P07-05

Internal torque limit value for forward rotation

0~3000

‰

3000

Effective immediately

Set anytime

Ordinary users

P07-06

Reverse internal torque limit value

0~3000

‰

3000

Effective immediately

Set anytime

Ordinary users

P07-07

External torque limit value on the forward rotation side

0~3000

‰

3000

Effective immediately

Set anytime

Ordinary users

P07-08

Reverse side external torque limit value

0~3000

‰

3000

Effective immediately

Set anytime

Ordinary users

P07-09

Torque command filter time 1

0~3000

10us

79

Effective immediately

Set anytime

Ordinary users

P07-10

Torque command filter time 2

0~3000

10us

79

Effective immediately

Set anytime

Ordinary users

P07-11

Emergency stop torque

0~3000

‰

1000

Effective immediately

Stop setting

Ordinary users

P07-12

Speed limit source selection

0-Internal speed limit, P7-13 and P7-14

1-Pulse type: using AI limit;

Bus type: using 607Fh value limit

2. The forward and reverse speed limits are the same, use V-SEL to select the limit values P7-13/P7-14

--

1

Effective immediately

Set anytime

Ordinary users

P07-13

Internal speed forward limit value during torque control

0~6000

rpm

3000

Effective immediately

Set anytime

Ordinary users

P07-14

Internal speed reverse limit value during g torque control

0~6000

rpm

3000

Effective immediately

Set anytime

Ordinary users

P07-15

The torque reaches the reference value

0~3000

‰

0

Effective immediately

Set anytime

Ordinary users

P07-16

Torque reaches hysteresis loop

0~3000

‰

200

Effective immediately

Set anytime

Ordinary users

P07-17

Speed limit judge time

5~300

0.1ms

10

Effective immediately

Set anytime

Ordinary users

P07-18

T-LMT selection

0-AI1

1-AI2

--

0

Effective immediately

Set anytime

Manufacturer mode

P07-19

V-LMT selection

0-AI1

1-AI2

--

one

Effective immediately

Set anytime

Manufacturer mode