Omron R88D-KTA5L User Manual page 360

5-5 Switching Control
Speed and Torque Control Switching Example (Pn001 = 5)
Control mode switching
input (TVSEL)
Speed command input (REF)
Torque command input (TREF)
Motor operation
*1. Deceleration for the torque command.
5
*2. Deceleration due to load inertia energy and load friction torque.
 There is a maximum delay of 10 ms in reading the input signal.
 Motor operation in torque control changes according to the motor load conditions (e.g., friction,
external power, inertia). Take safety measures on the machine side to prevent motor runaway.
 Adjust the torque command using Analog Input 2 Offset (Pn425) and Analog Input 2 Filter Time
Constant (Pn426) because the torque command input is analog input 2.
Related Functions
Refer to the related functions for each control mode.
5-25
ON
OFF
+V
−V
+V
−V
+r/min
−r/min
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
*1
*2
Torque Control Mode