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

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Torque Control Section 10-6
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
Note (1) A command range check (0 to 10,000) is performed for the option com-
mand value for torque control when the torque control command is given.
If the option command value is out of range, an option command value
error (error code: 3064) will occur. The command range check will be per-
formed even if the Servo Parameter Speed
Limit Selection (Pn05B) when
using G-series Servo Drives, or the Torque Command Input Change pa-
rameter in the Function Selection Application Switches 2 when using
W-series Servo Drives is set to disable using the option command value.
Always set the option command value to 0 when it is not being used.
(2) The same option command value parameter is used for both speed and
torque control. The allowable setting ranges for speed and torque control,
however, are different. When switching between speed and torque con-
trol, be sure that the option command value is set within the proper range
for the current type of control.
Changes to the torque command value during operation are always effective.
during torque control, by setting a new torque command value in the Axis
Operating Output Memory Area, the target torque for torque control can be
changed.
The data for option command value 1 (speed limit value) is enabled when the
start bit for TORQUE CONTROL turns ON. Changing these set values while
torque control is being executed and then turning ON the TORQUE CON-
TROL Bit again enables the speed limit value to be changed during operation.
The torque limit can also be applied by turning ON the Forward/Reverse Rota-
tion Current Limit Designation Bit when executing TORQUE CONTROL. (For
details, refer to
10-4-3 Torque Limits Set by Operating Commands .)
Axis Operating Input Memory Areas (Monitoring)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
The Receiving Command Flag turns ON for at least one cycle time when the
command to start torque control is received by the PCU. Use the Receiving
Command Flag when starting and changing option commands to control the
ON/OFF timing for TORQUE CONTROL.
During torque control, bit 11 in the Servo Status Flags (word b+1) of the Axis
Operating Input Memory Area functions as the Speed Limit Status Flag.
Name Word Bits Contents
Receiving Command
Flag b 00 0: Command reception enabled.
0
→
1: Command reception started.
1: Receiving command (command
reception disabled).
Error Flag 12 0: No axis error.
1: Axis error has occurred.
Busy Flag 13 1: Axis busy (axis operation executing).
Torque Limit Status Flag b+1 09 1: Torque limit in progress.
Speed Limit Status Flag 11 1: Speed limit in progress.
Feedback present posi-
tion b+6
b+7 --- Present position
Feedback position (rightmost word)
Feedback position (leftmost word)
Command present posi-
tion b+8
b+9 --- Present position
Command position (rightmost word)
Command position (leftmost word)