Omron SYSMAC CS1G Operation Manual page 577

Program Example
Program
Explanation of the
program
10-1-24 Torque Control/Torque Control Cancel (TORQUE/TORQUER)
Explanation of the
operation
Program
554
01) PROG P027 Q00000001;
02) MOVEL [J01]50000 F500000;
03) SPEED [J01]50. T0;
04) #OW0BA0 = 1;
05) WAIT #SL0204 >= 150000;
06) SPEEDR [J01] T0;
07) #OW0BA0 = 0;
08) MOVEL [J01]200000;
09) DWELL T5000;
10) MOVEL [J01]0;
11) END;
01) A program No. and axes to be used are specified.
02) The axis moves to the position 50000 with linear interpolation.
03) SPEED command operation is started with 50% of the rated speed of the
motor.
04) 1 is output to the general output (OW0BA0).
05) The program will wait until the present position exceeds 150000.
06) SPEED command operation is completed.
07) The general output (OW0BA0) is reset to 0.
08) The axis moves to the position 200000 with linear interpolation.
09) The program is held for 5 seconds.
10) The axis returns to the origin.
11) The program is completed.
• The torque of a specified axis is controlled in Torque Control Mode.
• In this example, TORQUE command will be executed between positions
50000 and 150000 when the axis travels from position 0 to 200000. Dur-
ing execution of TORQUE command, 1 is output to the general output
(OW0BA0).
Axis
movement
Travel
0
distance
01) PROG P028 Q00000001;
02) MOVEL [J01]50000 F500000;
03) TORQUE [J01]50. T0;
04) #OW0BA0 = 1;
05) WAIT #SL0204 >= 150000;
06) TORQUER [J01] T0;
07) #OW0BA0 = 0;
08) MOVEL [J01]200000;
09) DWELL T5000;
10) MOVEL [J01]0;
11) END;
TORQUE command interval
(Output to the general output)
50000
Section 10-1
150000 200000