LSIS XBF-PN04B, User Manual, Page: 534 / 820

Chapter 9 Functions
9-107
9.2.21 Torque control
It operates by set torque and executes by
「
Torque control
」
command until
「
Deceleration stop
」
command is
inputted.
(9) Characteristic of control
(a) Operate torque control by designated torque value(%) and gradient(ms).
(b) auxiliary data of
「
Torque control
」
command.
Auxiliary data Setting value Contents
Torque (%) -32768 ~ 32767
Set the torque value of target at the time of torque control.
The Torque value is operated by % about rated torque.(1=rated
torque of 1%)
Gradient (ms) 0 ~ 65535 Set gradient to the target torque by time.
※
Permissible range of torque value is different according to variety of servo drive connected. Commonly, target
torque value is limited to maximum torque setting.
(c) The direction is determined according to setting of torque value is the auxiliary data of the torque command.
▪ When torque value is positive value (+) : Positioning in forward direction
▪ When torque value is negative value (-) : Positioning in reverse direction
(10) Motion timing
Dec.stop
command
Gradient(ms)
Torque cont rol
Torque(%)
Time
Target
Torque
ON
Torque cont orl
command
In operat ion
ON
ON
Positioning
completion
(11)
Restrictions
(a) You can not execute torque control in the case as follows.
▪ If you execute the command in the state of during the operation except for torque control(Error code: 741)
▪ If you execute the command in the state in which the M code on signal is on(Error code: 742)
▪ If you execute the command in the state of servo-off(Error code: 743)
▪ If the servo drive does not support the torque control mode(Error code: 565)