Omron R88D-KTA5L User Manual page 541

Trial Operation in Torque Control Mode
1. Use the Connector CN1.
2. Turn ON the Servo Drive power.
3. Confirm that the parameters are set to the standard set values.
4. Set the Speed Limit Value Setting (Pn321) to a low value.
5. Apply 12 to 24 VDC between the operation command input (RUN: CN1 pin 29) and
+24VIN (CN1 pin 7). Servo ON status will be entered and the Servomotor will be
activated.
6. Apply a positive or negative DC voltage between the torque command input TREF1
(CN1 pin 14) and AGND1 (CN1 pin 15). Check to see if the motor rotates according
to the direction (forward/reverse) set in Pn307.
Use the following parameters to change the amount of the torque, direction of the torque, or
speed limit value for the command voltage.
 Pn321: Speed Limit Value Setting (default set value: 0 r/min)
 Pn319: Torque Command Scale
 Pn320: Torque Output Direction Switching
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-5 Trial Operation
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