Omron CJ1W-NC271 - 12-2009, Operation Manual

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Torque Control
Section 10-6
Example Timing Chart for Torque Control
For details on switching to torque control from position control or speed con-
trol, refer to
10-5-3 Switching Control Mode .
Note (1) When SERVO UNLOCK is executed during speed control or torque con-
trol, the Servo Drive will recover in the position control mode and in Servo
lock status the next time SERVO LOCK is executed. If MECHATROLINK
communications are stopped (connection released) or the power to the
PCU is interrupted during speed control or torque control, the Servo Drive
will be put in Servo free run state in the previous control mode. While in
this state, if MECHATROLINK communications are started (connection
established) and SERVO LOCK is executed, the Servomotor starts oper-
ating immediately in the previous command state. The speed monitor and
torque monitor in the PCU’s expanded monitoring functions will also not
function properly. To stop MECHATROLINK communications while in
speed control or torque control mode, use DECELERATION STOP or
other command that will switch the Servo Drive to position control, and
execute the next SERVO LOCK in position control mode. If the Servo is
in a free run state during speed control or torque control (due to an error
or other cause), execute DEVICE SETUP before the next SERVO LOCK
and switch the Servo Drive to position control mode.
00013880 hex (80.000%) 00002710 hex (10.000%)
50%
75%
0000C350 hex (50.000%) 000124F8 hex (75.000%)
Torque command value
(words a+8, a+9)
Option command value 1
(words a+10, a+11)
Monitor type (word a+15)
TORQUE CONTROL
(word a+1, bit 03)
DECELERATION STOP
(word a, bit 15)
Forward Rotation Current Limit
Designation Bit (word a+16, bit 14)
Speed
Receiving Command Flag
(word b, bit 00)
PCU Positioning Completed
Flag (word b, bit 05)
Busy Flag (word b, bit 13)
Stop Execution Bit
(word b, bit 15)
Speed Limit Status Flag
(word b+1, bit 11)
Torque Limit Status Flag
(word b+1, bit 09)
Monitor 1: Torque command
(words b+10, b+11)
Control mode
(Position control) Torque control Position control
a = Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
Monitor unit: 0.001% (percentage of Servomotor's momentary
maximum torque)
Monitor unit: 1% (percentage of Servomotor's rated torque)
Torque limit
enabled
Time
000B hex (Monitor 1: Torque command)
The target output torque can be changed at any
time during torque control by overwriting the
torque command value.
Changing option command value 1 while torque
control is being executed and then executing
TORQUE CONTROL again enables the speed
limit value to be changed during operation.
Axes operating with torque control are stopped
using DECELERATION STOP or EMERGENCY
STOP.
When the torque limit is disabled for position
control commands such as DECELERATION
STOP, the torque may suddenly change when
switching from torque control.
Solid line: Command speed
Broken line: Feedback speed
The speed and acceleration/deceleration used
during torque control depend on the torque
command value and Servomotor load, within the
range limited by the speed limit value in option
command value 1.
The Receiving Command Flag turns ON for at least
one cycle time when the movement command is
received.
Bit 11 in the Servo Status Flags (word b+1) functions
as the Speed Limit Status Flag from the time when
TORQUE CONTROL is received (when the Receiving
Command Flag turns OFF) until the command to
switch to position control, such as DECELERATION
STOP, is received (when the Receiving Command
Flag turns OFF), as indicated by the shaded area.
The Torque Limit Status Flag is ON when the torque
limit function is enabled and operating. This flag does
not turn ON if the output torque reaches the limit
value or lower during Servomotor rotation and thus
the torque limit function is not ON.
When the torque is selected for monitor 1 or 2, the
monitoring unit for position control/speed control, and
torque control changes. The monitor uses a unit of
0.001% from when the torque control command is
received (when the Receiving Command Flag turns
OFF) and 1% from when the command to switch to
position control or speed control is received (when the
Receiving Command Flag turns OFF).