Omron OMNUC W Series User Manual page 291

Operation
D Position and Torque Control Switching Example (Pn000.1 = 8)
Control mode
switching
TVSEL
Torque command
input
TREF
Pulse commands
Positioning com-
pleted signal
INP1
Servomotor op-
eration
Note 1. This time chart shows an example of torque thrust.
Note 2. There is a maximum delay of 2 ms in reading the input signal.
Note 3. When switching from torque control to position control, input the pulse command after TVSEL
(control mode switching) has turned OFF, the positioning completed output 1 (INP1) signal
has turned ON, and 2 ms has elapsed. The pulses will be ignored until the positioning com-
pleted output 1 (INP1) signal has turned ON.
D Speed and Torque Control Switching Example (Pn000.1 = 9)
Control mode
switching
TVSEL
Speed command
input
REF
Torque command
input
TREF
Servomotor op-
eration
Note 1. There is a maximum delay of 2 ms in reading the input signal.
Note 2. Servomotor operation with torque control varies according to the Servomotor load conditions
(e.g., friction, external power, inertia). Perform safety measures on the devices to prevent the
Servomotor from running amok.
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2 ms min.
(Forward operation)
(Reverse operation)
2 ms min.
Impact
Torque Control Mode
Chapter 4
4-75