Omron Sysmac NY-series Instruction & Reference Manual page 426

3 Axis Command Instructions
If even one of the required objects is not set, a Process Data Object Setting Missing error (error code
3461 hex) occurs.
For details on mapping data objects, refer to 2-3 PDO Mapping on page 2-37 and to the NY-series
Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
Instruction Details
This section describes the instruction in detail.
 Specifying Axis
Axis specifies the axis for torque control.
 TorqueRamp
Specify the slope from the currently specified command torque until the target torque is output.
Example 1: Direction Set to 0: Positive direction
Torque
Torque
Example 2: Direction Set to 2: Negative direction
Torque
Torque
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)
This variable 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.
3-338
TorqueRamp
Time
Time
TorqueRamp
NY-series Motion Control Instructions Reference Manual (W561)