Omron NY532-1500 Reference Manual page 399

TorqueRamp
Specify the slope from the currently specified command torque until the target torque is output.
Example 1: Direction = Positive
Torque
Torque
Precautions for Correct Use Precautions for Correct Use
Set the target torque so that the maximum torque of the motor is not exceeded.
The operation that is performed when the maximum torque of the motor is exceeded depends on
the Servo Drive.
Velocity (Velocity Limit)
Velocity limits the maximum velocity of the axis during torque control. When the axis velocity
reaches this velocity limit, the Servo Drive reduces the torque to reduce the axis velocity. The veloc-
ity limit function uses the Servo Drive function.
For details, refer to information on the torque control function in the Servo Drive manual.
Precautions for Correct Use Precautions for Correct Use
• The axis velocity increases faster during torque control. Make sure that you set Velocity (veloc-
ity limit) for safety.
• When you use an OMRON G5-series Servo Drive, set the Velocity Limit Selection (3317 hex)
of the Servo Drive to 1 (velocity limit value via EtherCAT communications). Otherwise, the
velocity limit is not affected. Also, the axis does not stop even if the limit input signal turns ON.
• Process data 607F hex is used for the velocity limit value. When you use an OMRON 1S-
series Servo Drive or G5-series Servo Drive, set the advanced settings in the Axis Parameter
Settings of the Sysmac Studio to use the Velocity Limit Value (607F hex). To use a velocity
limit with a servo drive from another manufacturer, refer to the manual for the servo drive.
Direction
Direction specifies the direction to output the target torque. If you want to output torque in the posi-
tive direction of the axis, set the positive direction. If you want to output torque to the negative direc-
tion of the axis, set the negative direction.
BufferMode (Buffer Mode Selection)
BufferMode specifies how to join the axis motions for this instruction and the previous instruction.
There are two possible settings.
Buffer Mode Selection
Aborting
Buffered
NY-series Motion Control Instructions Reference Manual (W561)
TorqueRamp
Time
Aborts the instruction being executed and switches to this
instruction.
Buffers this instruction and executes it automatically after the
current instruction is completed.
3 Axis Command Instructions
Example 2: Direction = Negative
Torque
TorqueRamp
Torque
Description
Time
3
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