Omron OMNUC G5 User Manual page 280

5-3 Torque Control
CONTROL mode Selection (Pn001)
Select the torque control (Set values: 2, 4 or 5).
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
5
The conversion of analog torque command is explained below.
Torque
Comman
d/Speed
Selection
(Pn317)
5-13
Parameter name
Torque
Pn317 Command/Speed
Limit Selection
Torque Command
Pn318 Direction
Selection
Torque Command
Pn319
Scale
Analog Torque
Command
Pn320
Rotation Direction
Switching
Analog Torque
Torque
Command
Command
Rotation
Direction
Limit Direction
Selection
Switching
(Pn318)
(Pn320)
0
0
Not affected
Not affected -Voltage (-10 to 0 V)
1
Not affected
Not affected -Voltage (-10 to 0 V)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Explanation
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 designating
the forward or reverse direction for
the torque command.
0: The +command indicates the
forward direction as viewed from
the shaft end (CW).
1: The +command indicates the
reverse direction as viewed from
the shaft end (CCW).
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
command
command
sign input
(TREF)
(TSIGN)
+Voltage (0 to 10 V)
affected
0
-Voltage (-10 to 0 V)
affected
+Voltage (0 to 10 V)
affected
1
-Voltage (-10 to 0 V)
affected
+Voltage (0 to 10 V)
+Voltage (0 to 10 V)
Setting
range
0 to 2
0 to 1
10 to 100
0 to 1
Torque
Motor
rotation
direction
Not Forward
direction
Not Reverse
direction
Not Reverse
direction
Not Forward
direction
Forward
OFF
direction
Reverse
ON
direction
Unit
−
−
0.1 V/100%
−
Conversion
graph
Figure A
Figure B
Figure C