Omron CS1W-MCH71 Operation Manual page 382

Command Details
Note
Description
Axis 1
Axis 2
TORQUE command
(2 axes simultaneously)
(1) This is the % specification for the maximum motor torque in the unit of
0.01%. When the value I0000 is set, it is interpreted as 100% of the max-
imum torque. The maximum motor torque limits the maximum torque in
actual operations.
(2) Word data is extended to long word data with a sign in the MC Unit.
(3) The minimum command unit is 0.01%.
Real value = (Decimal immediate value or Variable of real number type)
× 10 2
)
Figures below the decimal point are to be omitted.
(4) There is no influence. ABL specification is always used.
• The torque command is output to the specified axis. (Torque value on the
motor axis is controlled.)
• The torque command unit is fixed at 0.01% of the maximum torque.
• If Torque change rate is set to 0, the specified torque is output instantly (If
the mode is switched from other mode to the torque control mode, this
value can be used as the output torque default value.)
• Torque change rate is enabled for all the specified axes.
• TORQUE command execution will be completed when the torque com-
mand for all the specified axes reaches Torque command value.
• The TORQUER command is processed as follows:
(1) The torque command is deceleration for all specified axes according to
the torque change rate and the torque command is output as 0.
(2) The system waits until the feedback speed equals the speed in P3AA09
or lower.
(3) The mode is switched to positioning control mode and the system waits
for the completion of positioning.
(4) Command execution is completed.
• During the command execution, the command code "001Bh" is output to
the system variable "Command execution status" (SW0228 for Axis 1).
(For details of command codes, see 4-5 System Variables Command
Code in Command Execution Status on page 158.)
TORQUER command
(Axis 1 alone)
• Torque change rate of TORQUE/TORQUER specifies the time to reach
the motor maximum torque from 0.
TORQUER command
Section 6-3
337