Omron R88D-KTA5L User Manual page 350

5-3 Torque Control
Control Mode Selection (Pn001)
Select the torque control (Set values: 2=Torque control, 4=Switching between Position control
and Torque control or 5=Switching between Speed control and torque control).
Analog Torque Command Input Process (Pn317, Pn318, Pn319, Pn320)
Convert the voltage input by an analog input to a torque command to control the motor.
Parameter
number
Pn317
5
Pn318
Pn319
Pn320
The conversion of analog torque command is explained below.
Torque
Command /
Selection
(Pn317)
0
*1.
5-15
Parameter name
Torque
Command/Speed
Limit Selection
Torque Command
Direction
Selection
Torque Command
Scale
Analog Torque
Command
Rotation Direction
Switching
Analog
Torque Torque
Command Command
Speed
Direction Rotation
Limit
Selection Direction
(Pn318) Switching
(Pn320)
0
0
1
1 Not affected
The motor rotation direction (CW, CCW) specified by the command direction is determined
by the setting of Pn000.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Explanation
Select the input location for the torque
command and speed limit value.
0: Torque command: Analog input 1
speed limit: Pn321
1: Torque command: Analog input 2
speed limit: Analog input 1
2: Torque command: Analog input 1
speed limit: Pn321, Pn322
Select the method for selecting the
direction for the torque command.
0: Use the sign
1: Use TVSIGN
Set the input gain for analog torque
command input.
Reverse the polarity of the torque
command input.
0: Forward operation
1: Reverse operation
Torque
Analog torque command
command sign
(TREF) selection
(TSIGN)
+Voltage (0 to 10 V)
-Voltage (-10 to 0 V)
Not
affected
+Voltage (0 to 10 V)
-Voltage (-10 to 0 V)
OFF
Not affected
ON
Setting
Unit
range
−
0 to 2
−
0 or 1
10 to 100 0.1 V/100%
−
0 or 1
Torque
Conversion
command
graph
1
direction*
Forward
direction
Figure A
Reverse
direction
Reverse
direction
Figure B
Forward
direction
Forward
direction
Figure C
Reverse
direction