Switching Function Of Torque Control/Speed Control (Atr); Torque Command - Omron RX2 Series User Manual

7 Advanced Settings
7-3-7

Switching Function of Torque Control/Speed Control (ATR)

This function is used so that speed control and torque control are switched with contact positioning con-
trol, etc.
When turning on the input terminal function 067 [ATR] terminal, the motor is controlled by torque, and
when turning off, the motor is controlled by speed.
Precautions for Correct Use
If the torque command changes in a step manner when switching from speed control to torque
control, the current may rise instantaneously.
 Parameter
Item
Switching time of
Speed control to
Torque control
Input Terminal Function
Item
Input terminal 1 to 9, A
or B selection
7-3-8

Torque Command

In the case of using [AA121] control method in sensorless vector control, and sensor vector control, this
drives the motor based on torque command.
This function can be used not only in speed control/pulse train position control but also in torque con-
trol. It can also be applied to a winding machine.
Using the torque bias function at the time of torque control adds a torque bias amount to torque com-
mand.
In the case of operating by torque control, assign 067 [ATR] to any of the input terminals. Turning ON
the [ATR] terminal switches from speed control to torque control.
Torque command handles the input value selected in the torque command setting [Ad-01] as a com-
mand.
To calculate the motor rated torque (100%) in this function, use the following formula.
Motor rated torque = 79.58 × Motor capacity × Number of poles/Base frequency
Example: Motor rated torque = 79.58 × 5.5 (kW) × 4 (P)/50 (Hz) ≈ 35 Nm
7 - 56
Parameter Data
[Ad-04] 0 to 1000(ms)
Parameter
[CA-01] to
[CA-11]
High-function General-purpose Inverter RX2 Series User's Manual
Description
This function is used to switch the speed control
to the torque control moderately in accordance
with the set time.
Data
067 [ATR]: Torque command input approval
Default
data
100
Description