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

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Torque Control Section 10-6
or other cause), execute DEVICE SETUP before the next SERVO LOCK
and switch the Servo Drive to position control mode.
(2) In torque control mode, axis stop operations due to errors are executed
after switching to position control. The output torque for these stop oper-
ations depends on the setting for error operation in the Current Limit Des-
ignation Bit. during torque control execution, if the Current Limit
Designation Bit is not set to ON, the axis stop operation due to error will
be executed with the torque limit disabled. To enable the torque limit for
axis stop operations due to errors, turn ON the Current Limit Designation
Bit while torque control is being executed and set Servo Parameters
No.2
Torque Limit (Pn05F) when using G-series Servo Drives, and Forward
Rotation External Current Limit (Pn404) or Reverse Rotation External
Current Limit (Pn405) when using W-series Servo Drives.
Status and Monitoring
during Torque Control
When TORQUE CONTROL is executed, some of the Status Flags, monitoring
functions, and display units change.
Servo Status Flags in Axis
Operating Input Memory
Area (Word b+1) The function of bit 11 in the Servo Status Flags of the Axis Operating Input
Memory Area depends on whether position control or torque control is used.
Monitors 1 and 2 in Axis
Operating Input Memory
Areas When the torque is selected for monitor 1 or 2, the monitoring unit for position
control/speed control, and torque control changes, as follows:
Word Bits Control
mode
Flag name Function Function change timing
b+1 11 Position
control Positioning Proxim-
ity (NEAR) Flag ON when within Positioning Com-
pletion Range 2
The function changes when
the command to switch to
position control has been
received (when the Receiving
Command Flag turns OFF).
Torque con-
trol Speed Limit (V_LIM)
Status Flag ON when speed limit in progress
using speed limit value specified in
option command value 1. The function changes when
TORQUE CONTROL has
been received (when the
Receiving Command Flag
turns OFF).
Control mode Speed monitoring
unit
Unit change timing
Position con-
trol/speed control % (1% unit)
(percentage of Ser-
vomotor’s rated
torque) The unit changes when the command
to switch to position control or speed
control has been received (when the
Receiving Command Flag turns OFF).
Torque control 0.001%
(percentage of Ser-
vomotor’s momen-
tary maximum
torque) The unit changes when TORQUE
CONTROL has been received (when
the Receiving Command Flag turns
OFF).