Single-Axis Torque Control - Omron NX-series User Manual

6 Introduction of Motion Control Functions
6-4

Single-axis Torque Control

Torque control continuously applies the specified amount of torque. You can use TorqueRamp to spec-
ify the rate of change of the torque until the Torque (Target Torque) is reached.
Precautions for Correct Use Precautions for Correct Use
• To be safe, always set a velocity limit value for torque control.
• You cannot use single-axis torque control for an NX-series Pulse Output Unit.
To stop an axis, use the MC_Stop instruction or execute another motion instruction. If you specify a
Torque (Target Torque) of 0, the axis will not move but the axis status will indicate that it is moving.
 Direction Designation = Positive Direction
Torque
Torque
 Direction Designation = Negative Direction
Torque
Torque
The MC Function Module uses the Torque Control Mode of the Servo Drive. The Servo Drive receives
the torque command value from the MC Function Module in the torque control loop and to control the
torque. You can specify the velocity limit value for the Servo Drive in the Velocity (Velocity Limit) input
variable to the motion control instruction. You can use this to limit high-speed revolution of the motor
when the load on the motor is low in Torque Control Mode.
For details, refer to the MC_TorqueControl instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).
6-32
TorqueRamp
Time
Time
TorqueRamp
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (W579)