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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
Summary of Contents for CS1W-MCH71 -
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Page 69: ...24 Performance Section 1 7 ...
Page 99: ...54 Connecting MECHATROLINK Devices Section 3 5 ...
Page 283: ...238 Saving Data Section 5 4 ...
Page 417: ...372 Command Details Section 6 3 ...