Omron TJ2-MC64 - PROGRAMMING Programming Manual page 334

Examples and tips
• The Following Error is proportional to the speed if you use only
Proportional Gain in the position loop.
• The torque, which is given by DRIVE_MONITOR as a percentage of the
nominal torque of the motor when you set DRIVE_CONTROL=11) is
proportional to the acceleration according to the formula:
α
Torque = J × + Torque
total total
is usually small, α is the angular acceleration, and J
where Torque
friction
the inertia of the system.
5.2.4 Position with product detection
A ballscrew moves forward at a creep speed until it reaches a product, a
microswitch (IN(2)) turns on.
The ballscrew is stopped immediately, the position at which the product is
sensed is indicated and the ballscrew returns at a rapid speed back to the
start position.
PROGRAMMING MANUAL
friction
fig. 49
A B C
328