Omron R88D-GT series User Manual page 371

Pn5B Torque Command/Speed Limit Selection
Setting range 0 or 1
Explanation of Settings
Setting
Torque control
Torque control in Position Control/Torque Control Mode
0
Torque control in Speed Control/Torque Control Mode
Torque control
1 Torque control in Position Control/Torque Control Mode
Torque control in Speed Control/Torque Control Mode
• The use of this parameter depends on the control mode.
Pn5C
Torque Command Scale
Setting range 10 to 100
• Use this parameter to set the relation between the voltage applied to the torque command input
(TREF1: CN1 pin 14 or TREF2: CN1 pin 16) and the Servomotor's output torque.
• Refer to 5-4 Torque Control on page 5-8 for information on torque command scaling.
Pn5D
Torque Output Direction Switch
Setting range 0 or 1
Explanation of Settings
Setting
Direction of motor torque:
0
Clockwise (forward) for positive commands when viewing the end of the shaft
Direction of motor torque:
1
Counterclockwise (reverse) for positive commands when viewing the end of the shaft
• Use this parameter to reverse the polarity of the Torque Command Input (REF/TREF1: CN1 pin
14 or PCL/TREF2: CN1 pin 16).
Unit --- Default setting
Control mode
Unit 0.1 V/100% Default setting
Unit --- Default setting
Explanation
5-16 User Parameters
Torque
0
Power OFF→ON
Torque command Speed limit
TREF1
(CN1 pin 14)
Pn5b
TREF2
(CN1 pin 16)
TREF2 VLIM (CN1
(CN1 pin 16) pin 14)
Torque
30
Power OFF→ON
Torque
0
Power OFF→ON
5-84
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5
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