Omron CS1W-MCH71 -, Operation Manual

Page: 381 / 717

336
Command Details
Section 6-3
Torque Control/
Torque Control cancel
(TORQUE/TORQUER)
The axes Torque can be controlled in Torque Control mode.
Command type Single execution command
Format TORQUE_[<axis name>]<torque command value> ---8--- _T<torque change
rate>;
TORQUER_[<axis name>] ---8--- _T<torque change rate>;
Ex: TORQUE_[J01]100.00 [J02]100.00 _T100;
TORQUER_[J01] [J02] _T100;
Operand Axis name: J01 to J32
T1
T2
T3
T4
V2
V3
T3
Program Image
SPEED [J01]<V1> T <T1>; Speed control started
:
SPEED [J01]<V2> T <T2>; Speed changed
SPEED [J01]<V3> T <T3>; Speed and direction changed
:
SPEEDR [J01] T <T4>; Speed control completed
Speed
Rated Speed
-Rated Speed
Time
Operand Setting range Decimal Variable specification INC/ ABL
influ-
ence
Bit Word Long
word
Real
number
Indirect
specifi-
cation
Torque command
value
−
10000 to
10000 (See note
1.)
No No Yes (See
note 2.) Yes Yes (See
note 3.) Yes No (See
note 4.)
Torque change rate 0 to 60000ms Yes No Yes (See
note 2.) Yes No Yes No