Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 327

Command Details
Axis 1
Axis 2
TORQUE command
(2 axes simultaneously)
Program image
TORQUE [J01]<Tq1> T<T1>; Torque control started
TORQUE [J01]<Tq2> T<T2>; Torque changed
TORQUE [J01]<Tq3> T<T3>; Torque and direction changed
TORQUER [J01] T<T4>; Torque control completed
Torque
Max Torque
Tq2
Tq1
Tq3
-Max torque
304
• During the command execution, the command code "001Bh" is output to
the system variable "Command execution status" (SW0228 for Axis 1).
(For details of command codes, see 4-5 System Variables Command
Code in Command Execution Status on page 142.)
TORQUER command
(Axis 1 alone)
• Torque change rate of TORQUE/TORQUER specifies the time to reach
the motor maximum torque from 0.
:
:
:
T1 T2
TORQUER command
T3
T3
Section 6-3
T4
Time