Setting Command - Omron CS1W-MCH71 Operation Manual

Command Details
Program image
TORQUE [J01]<Tq1> T <T1>; Torque control started
TORQUE [J01]<Tq2> T <T2>; Torque changed
TORQUE [J01]<Tq3> T <T3>; Torque and direction changed
TORQUER [J01] T <T4>; Torque control completed
Torque
Max Torque
Tq2
Tq1
Tq3
-Max torque
Caution
6-3-4

Setting Command

Target Position
Change (MOVEMODI)
Command type
Format
Operand
Operand Setting range
−2147483648 to
Changed target posi-
tion 2147483647
338
:
:
:
T1 T2
When executing the TORQUE command, the following axis command position
values are output to system variables (refer to 4-5 System Variables).
Command speed 1: Same value as feedback speed 1
Command speed 2: Same value as feedback speed 2
The target position of the positioning command currently being executed is
changed.
Multiple execution command
MOVEMODI_[<axis name>]<changed target position> --8--;
Ex: MOVEMODI_[J01]100.00 [J02]200.00;
Axis name: J01 to J32
Decimal
Yes No
T3
Variable specification
Bit Word Long
word
Yes (See Yes
note 1.)
Section 6-3
T3
T4
INC/ ABL
Real Indirect
number specifi-
cation
Yes (See Yes No (See
note 2.) note 3.)
Time
influ-
ence