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5-3 Torque Control
The CJ1W- and CS1W-NCx71 Position Control Units for MECHATROLINK-II issue the torque
control commands. The Servo Drive uses the commands and rotates the motor in the
commanded torque output. The present value to be fed back from the Drive to the Controller
is the values obtained by dividing the command by the Electronic Gear Ratio (determined by
the settings in Pn009 or Pn010).
Host Controller
(MECHATROLINK-II communications support type)
Position Control Unit
CJ1W-NCF71
CS1W-NCF71
(Torque Control
Command)
Precautions for Correct Use
While the motor speed is restricted by the Speed Limit Command, the Torque Command to the
motor differs from the Torque Command issued by the Host Controller. The Torque Command to
the motor is the resulting value that controls the motor speed within the Speed Limit.
Parameters Requiring Settings
Parameter
Parameter name
number
Pn317
Speed Limit Selection
Speed Limit Selection (Pn317)
Restricts the speed as the protection during torque control.
Controls that the speed does not exceed the Speed Limit during torque control.
Parameter
number
Speed Limit
Pn317
Selection
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Issue a torque
command
Issue a speed limit
value command
Feedback the
position or speed
Select the input location for the speed limit.
Parameter name
Selects the input type of the Speed
Limit during torque control.
0: Control the speed by the Speed
Limit Setting (Pn321).
1: Control the speed by either one of
the smaller value: the Speed Limit
value (VLIMT) by
MECHATROLINK-II
communications, or the Speed
Limit Setting (Pn321)
Servo Drive
R88D-KN
TORQUE CONTROL mode
Electronic Gear
Pn009, Pn010
Numerator
Denominator
Explanation
Explanation
5-3 Torque Control
Servomotor
OMNUC G5
Reference
P.8-26
Setting
Unit
range
0 to 1
5-6
5
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