Omron CJ1W-MA - REV 10-2008, Operation Manual

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Torque Control Section 10-6
Servo Parameter Area G-series Torque Control Parameters
Pn05B is used to select the function of the option command value for torque
control.
The option command value for torque control is described in the following
pages.
Pn053 is used to set the fixed speed limit for torque control.
W-series Torque Control Parameters
Note The default settings correspond to those used for W-series Servo Drives.
Pn002.1 is used to select the function of the option command value for torque
control. The option command value for torque control is described in the fol-
lowing pages.
The data length for Pn002.1 is the set value specified to transfer Pn002
(including Pn002.1) when transferring Servo Parameters. Pn407 is used to set
the fixed speed limit for torque control.
Axis Operating Output Memory Areas (Operating Commands)
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn05B Speed limit selection --- 0, 1 2 0
--- Pn053 Speed limit r/min
−
20000 to
20000
2 50
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn002.1 Function selection application switch 2
Speed command input switching
--- 0, 1 2 0
--- Pn407 Speed limit r/min 0 to 10000 2 3000
Name Word Bits Contents
DECELERATION STOP a 15 0
→
1: Starts deceleration stop.
TORQUE CONTROL a+1 03 0
→
1: Starts torque control.
EMERGENCY STOP 15 0
→
1: Starts emergency stop.
Torque command value a+8
a+9 --- Torque command value (rightmost word)
Torque command value (leftmost word)
Unit: 0.001%
(percentage of Servomotor’s momentary maximum torque)
Command range:
−
199.999 to 199.999%
(FFFCF2C1 hex to 00030D3F hex)
Note The rotation direction is determined by the sign.
Option command value 1 a+10
a+11
--- Speed limit value (rightmost word)
Speed limit value (leftmost word)
Unit: 0.001%
(percentage of Servomotor's momentary maximum rotation speed)
Command range: 0 to 100.000% (See note 1.)
(00000000 hex to 000186A0 hex)
The option command value 1 can be used as the speed limit value during
torque control by setting the Servo Parameter
Speed Limit Selection
(Pn05B) when using G-series Servo Drives, and the Speed Command Input
Change in Servo Parameter Function Selection Application Switch 1
(Pn002.1) when using W-series Servo Drives.
Forward rotation current
limit designation a+16 14 1: Use forward torque limit.
Reverse rotation current
limit designation 15 1: Use reverse torque limit.