Torque Control - Omron R88M-K Series User Manual

5-3 Torque Control

Torque control is performed based on the torque command specified by the analog voltage. In
addition to the torque command, torque control also requires a speed limit input to prevent the
motor rotation speed from becoming excessively high.
Outline of Operation
Controller
Analog voltage
(analog voltage output type)
(torque command)
*
None of OMRON
controllers is a torque
command voltage
output type.
Precautions for Correct Use
 If the motor speed is limited by the speed limit, the motor speed will be limited and will not reach
the speed corresponding to the analog torque command.
Parameters Requiring Settings
Parameter
Parameter name
number
Pn001 Control Mode Selection
Torque Command/Speed
Pn317
Limit Selection
Torque Command
Pn318
Direction Selection
Pn319 Torque Command Scale
Analog Torque Command
Pn320 Rotation Direction
Switching
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Drive
OMNUC G5
Torque Control Mode
Torque Command Scale
(Pn319)
TREF1
14 Torque
/VLIM
15 AGND
16 TREF2
17 AGND
Explanation
Select the control mode.
Select the input location for the torque command and speed
limit.
Select the rotation direction of the torque command.
Set the input gain for analog torque command input.
Reverse the polarity of the torque command input.
5-3 Torque Control
Motor
OMNUC G5
V
5
Reference
P.8-2
P.8-31
P.8-32
P.8-34
P.8-34
5-14