Omron M1 Series User Manual page 440

6 Vector Control and Applied Functions
"1: Torque bias (Level 1 to 3)"
Switches the torque bias level according to "TB1" and "TB2" allocated to multifunction input termi-
nals.
Input signal
TB1
OFF
OFF
ON
ON
"2: Analog torque bias"
Set one of Input Terminal [AI1] Function Selection (E61), Input Terminal [AI2] Function Selection
（AII） (E62) or Input Terminal [AI2] Function Selection（AIV） (E63) to "9c torque bias," and deter-
mine the torque bias value by analog current input or analog voltage input.
When "62: H-TB (Torque bias hold)" is allocated to Input Terminal [DI1] Function Selection to Input
Terminal [DI7] Function Selection (E01 to E05, E98, E99) and the terminal is turned ON, the torque
bias level currently entered to that input is held.
"4: Modbus communication"
Set Torque Bias Value via Communication (S15)/Torque Bias Value (S24) via Modbus communica-
tion.
• The torque command value of this torque control function takes the motor rated torque to be 100%.
• Set the polarity of the instructed torque bias value in Torque Bias Polarity Selection (H334).
"0: Signed"
The forward torque increases when the torque bias value is positive (+) and the reverse torque in-
creases when the torque bias value is negative (−), independent of the operation direction.
"1: Depends on the run direction"
The direction in which torque bias works depends on the RUN command direction.
Forward
command
Reverse
command
• Set Torque Bias Mechanical Loss Compensation (H158) to compensate for mechanical loss.
• Shock is sometimes large when the torque bias is simply added. Startup with little shock is possible
by setting a timer in Torque Bias Startup Timer (H159). Set the timer as the time for adding 100%
torque. When 0 is set, all the torque bias value is added instantaneously.
• Torque bias can be gradually excluded in the same way as the startup timer by setting Torque Bias
Shutdown Timer (H161). Set the timer as the time for subtracting 100% torque. When 0 is set, all
the torque bias value is subtracted.
• The maximum torque bias value can be limited by setting Torque Bias Limit (H162).
6-34
TB2
OFF No torque bias
ON H155: Torque bias level 1
OFF H156: Torque bias level 2
ON H157: Torque bias level 3
: Forward torque increases when torque bias value is positive (+).
Reverse torque increases when torque bias value is negative (-).
: Reverse torque increases when torque bias value is positive (+).
Forward torque increases when torque bias value is negative (-).
Torque bias value selection
M1 Series Standard Type User's Manual (I669)