Omron R88M-W60010T User Manual page 273

Operation
4-4-3 Torque Control (Torque)
Function
■
• Torque control is performed according to commands from MECHATROLINK-II.
Controller
(MECHATROLINK-II Model)
Motion Control Unit
CS1W-MCH71
CJ1W-MCH71
Torque command
Position Control Unit
CJ1W-NCF71
■ Related Functions
• Functions related to torque control that can be used during torque control are as follows:
Function name
Torque limit function
Speed limit function
Note Servomotor rotation speed during torque control changes depending on the Servomotor load
conditions (friction, external force, inertia). Apply safety measures at the machinery to prevent
Servomotor runaway.
Applicable Controller Commands
■
Controller
CJ1W-NCF71 According to torque control commands.
CS1W-MCH71 According to torque control commands (TORQUE, TORQUER).
CJ1W-MCH71
Note For details on commands and instructions, refer to the manual for the specific Unit.
OMNUC W-series Servo Driver
This function limits the Servomotor's torque output.
This function limits the Servomotor rotation speed from becom-
ing too high.
Torque Control Mode
Explanation
Commands and instructions
Chapter 4
OMNUC W-series
Servomotor
Reference
4-4-7 Torque Limit
Function (All Oper-
ating Modes)
4-4-10 Speed Limit
Function (Torque)
4-77