Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 326

Command Details
Torque Control/
Torque Control cancel
(TORQUE/TORQUER)
Command type
Format
Operand
Operand Setting range
−10000 to
Torque command
value 10000 (See note
1.)
Torque change rate 0 to 60000ms
Note
Description
The axes Torque can be controlled in Torque Control mode.
Single execution command
TORQUE_[<axis name>]<torque command value> ---8--- T<torque change
rate>;
TORQUER_[<axis name>] ---8--- T<torque change rate>;
Ex: TORQUE_[J01]100.00 [J02]100.00 T100;
TORQUER_[J01] [J02] T100;
Axis name: J01 to J32
Decimal
Bit
No No
Yes No
(1) This is the % specification for the maximum motor torque in the unit of
0.01%. When the value I0000 is set, it is interpreted as 100% of the max-
imum torque. The maximum motor torque limits the maximum torque in
actual operations.
(2) Word data is extended to long word data with a sign in the MC Unit.
(3) The minimum command unit is 0.01%.
Real value = (Decimal immediate value or Variable of real number type)
× 10 2
)
Figures below the decimal point are to be omitted.
(4) There is no influence. ABL specification is always used.
• The torque command is output to the specified axis. (Torque value on the
motor axis is controlled.)
• The torque command unit is fixed at 0.01% of the maximum torque.
• If Torque change rate is set to 0, the specified torque is output instantly (If
the mode is switched from other mode to the torque control mode, this
value can be used as the output torque default value.)
• Torque change rate is enabled for all the specified axes.
• TORQUE command execution will be completed when the torque com-
mand for all the specified axes reaches Torque command value.
• The TORQUER command is processed as follows:
(1) The torque command is deceleration for all specified axes according to
the torque change rate and the torque command is output as 0.
(2) The system waits until the feedback speed is 0.
(3) The mode is switched to positioning control mode and the system waits
for the completion of positioning.
(4) Command execution is completed.
For MC Units with Ver. 2.0 or Later, step (2) is as follows:
(2) The system waits until the feedback speed is below the value set in
P3AA09.
Variable specification
Word Long Real
word number
Yes (See Yes Yes (See
note 2.) note 3.)
Yes (See Yes No
note 2.)
Section 6-3
INC/ ABL
influ-
Indirect
ence
specifi-
cation
Yes No (See
note 4.)
Yes No
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