Omron CS1W-MCH71 Operation Manual page 381

Command Details
Speed
Rated Speed
V2
V3
-Rated Speed
Torque Control/
Torque Control cancel
(TORQUE/TORQUER)
Command type
Format
Operand
Operand Setting range
−10000 to
Torque command
value 10000 (See note
1.)
Torque change rate 0 to 60000ms
336
Program Image
SPEED [J01]<V1> T <T1>; Speed control started
:
SPEED [J01]<V2> T <T2>; Speed changed
SPEED [J01]<V3> T <T3>; Speed and direction changed
:
SPEEDR [J01] T <T4>; Speed control completed
T1
T2
The axes Torque can be controlled in Torque Control mode.
Single execution command
TORQUE_[<axis name>]<torque command value> ---8--- _T<torque change
rate>;
TORQUER_[<axis name>] ---8--- _T<torque change rate>;
Ex: TORQUE_[J01]100.00 [J02]100.00 _T100;
TORQUER_[J01] [J02] _T100;
Axis name: J01 to J32
Decimal
No
Yes
T3
Variable specification
Bit Word Long
word
No Yes (See Yes
note 2.)
No Yes (See Yes
note 2.)
Section 6-3
T3 T4
INC/ ABL
Real Indirect
number specifi-
cation
Yes (See Yes No (See
note 3.) note 4.)
No Yes No
Time
influ-
ence