Omron ACCURAX G5 User Manual page 281

CONTROL mode Selection (Pn001)
Select the torque control (Set values: 2=Torque control, 4=Switching between Position control
and Torque control or 5=Switching between Speed control and torquecontrol).
Analog Torque Command Input Process (Pn317, Pn318, Pn319, Pn320)
Convert the voltage input by an analog input to a torque command to control the motor.
Parameter
number
Torque
Pn317 Command/Speed
Limit Selection
Torque Command
Pn318 Direction
Selection
Torque Command
Pn319
Scale
Analog Torque
Command
Pn320
Rotation Direction
Switching
The conversion of analog torque command is explained below.
Torque
Comman
Command
d/Speed
Limit
Selection
(Pn317)
0
0
1
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter name
Select the input location for the torque
command and speed limit value.
0: Torque command: Analog input 1
speed limit: Pn321
1: Torque command: Analog input 2
speed limit: Analog input 1
2: Torque command: Analog input 1
speed limit: Pn321, Pn322
Select the method for selecting the
direction for the torque command.
0: The direction depends on the
polarity of the analogue torque
command).
1: The direction depends on the state
of a digital input (TSIGN).
Set the input gain for analog torque
command input.
Reverse the polarity of the torque
command input.
0: Forward operation
1: Reverse operation
Analog Torque
Torque
Command
Analog torque
Rotation
Direction
Direction
Selection
Switching
(Pn318)
(Pn320)
+Voltage (0 to 10 V)
0
-Voltage (-10 to 0 V)
+Voltage (0 to 10 V)
1
-Voltage (-10 to 0 V)
Not affected +Voltage (0 to 10 V)
Not affected -Voltage (-10 to 0 V)
Not affected +Voltage (0 to 10 V)
Not affected -Voltage (-10 to 0 V)
Explanation
Torque
command
command
sign input
(TREF)
(TSIGN)
Not
affected
Not
affected
Not
affected
Not
affected
OFF
ON
5-3 Torque Control
Setting
Unit
range
−
0 to 2
−
0 to 1
10 to 100 0.1 V/100%
−
0 to 1
Motor
Conversion
rotation
graph
direction
Forward
direction
Figure A
Reverse
direction
Reverse
direction
Figure B
Forward
direction
Forward
direction
Figure C
Reverse
direction
5-15
5