Omron CJ1W-NC271 - 12-2009, Operation Manual

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401
Torque Control
Section 10-6
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.
The command present position that is output during torque control is calcu-
lated from the feedback position and the position deviation that is inferred
from the current speed.
Changes in output torque may affect operation when switching to speed con-
trol or position control with deceleration stop, while torque control is being per-
formed. For details, refer to
10-5-3 Switching Control Mode .
Note When executing movement commands sequentially, make sure that the
movement command bit remains OFF for a minimum of either the PLC cycle
time × 2 or the MECHATROLINK communications cycle × 2, whichever is
longer. If the time that the movement command bit is OFF is too short, the
PCU will not be able to detect the rising edge of the movement command bit,
preventing reception of the command.
Option Command Value during Torque Control
A speed limit can be applied during torque control by setting Servo Parameter
Speed Limit Selection (Pn317) when using G5-series Servo Drives, Servo
Parameter Speed Limit Selection (Pn05B) when using G-series Servo Drives,
and the Speed Command Input Change in Servo Parameter Function Selec-
tion Application Switch 2 (Pn002.1) when using W-series Servo Drives and
the option command value.
The speed limit functions depend on the Servo Parameter and output bit com-
binations, as follows:
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)