Omron R88D-GT series User Manual page 296

5-4 Torque Control
Parameter
5
Pn02 = 5 (Torque/Speed Switch Control)
TREF1/
Related Functions
Functions related to torque control are as follows:
Torque limit function This function limits the Servomotor's torque output.
Speed limit function
5-9
Parameter name
No. (function)
Speed Command
Pn52
Offset Adjustment
Speed Command
Pn57
Filter Time Constant
Torque Command
Pn5C
Scale
Torque Output
Pn5D
Direction Switch
This input is disabled.
VLIM The speed limit will be the No. 4 Internally
pin 14 Set Speed (Pn56).
TREF2 Torque command input. The gain, polarity, offset, and filter for the torque command can
pin 16 be set using Pn5C and Pn5D. Offsets and filters cannot be used.
Function
This function controls the Servomotor rotation speed so
that it does not become too high.
Explanation
The speed command input will be offset by
approximately the set value times 0.3 mV.
Set the time constant for the first-order lag fil-
ter.
Set the TREF (torque command input) volt-
age to output the rated torque.
Output torque (rated torque ratio)
300[%]
Default setting
200
100
−9V −6 −3
Reverse the polarity of the torque command
input.
Pn5B = 0
Analog speed limit input. To set the gain,
offset, and filter for the speed limit, use
Pn50, Pn52, and Pn57, respectively.
Explanation
Reference page
3 6 9V
Command input
100
voltage
200
300[%]
Pn5B = 1
Reference page
5-81
5-82
5-84
5-84
5-26
5-30