Omron CS1W-MCH71 -, Operation Manual

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Command Details
Section 6-3
Caution When executing the TORQUE command, the following axis command position
values are output to system variables (refer to
4-5 System Variables ).
Command speed 1: Same value as feedback speed 1
Command speed 2: Same value as feedback speed 2
6-3-4 Setting Command
Target Position
Change (MOVEMODI)
The target position of the positioning command currently being executed is
changed.
Command type Multiple execution command
Format MOVEMODI_[<axis name>]<changed target position> --8--;
Ex: MOVEMODI_[J01]100.00 [J02]200.00;
Operand Axis name: J01 to J32
T1 T2 T3
T4
Tq1
Tq2
Tq3
T3
Program image
TORQUE [J01]<Tq1> T <T1>; Torque control started
:
TORQUE [J01]<Tq2> T <T2>; Torque changed
:
TORQUE [J01]<Tq3> T <T3>; Torque and direction changed
:
TORQUER [J01] T <T4>; Torque control completed
Torque
Max Torque
-Max torque
Time
Operand Setting range Decimal Variable specification INC/ ABL
influ-
ence
Bit Word Long
word
Real
number
Indirect
specifi-
cation
Changed target posi-
tion
−
2147483648 to
2147483647
Yes No Yes (See
note 1.) Yes Yes (See
note 2.) Yes No (See
note 3.)