Omron R88D-GT series, User Manual

Page: 296 / 510

5-9
5-4 Torque Control
5
Ope
rati
ng Func
tions
Pn02 = 5 (Torque/Speed Switch Control)
Related Functions
Functions related to torque control are as follows:
Parameter
No.
Parameter name
(function)
Explanation Reference page
Pn52
Speed Command
Offset Adjustment The speed command input will be offset by
approximately the set value times 0.3 mV.
5-81
Pn57
Speed Command
Filter Time Constant Set the time constant for the first-order lag fil-
ter.
5-82
Pn5C
Torque Command
Scale
Set the TREF (torque command input) volt-
age to output the rated torque.
5-84
Pn5D
Torque Output
Direction Switch Reverse the polarity of the torque command
input.
5-84
Pn5B = 0 Pn5B = 1
TREF1/
VLIM
pin 14
This input is disabled.
The speed limit will be the No. 4 Internally
Set Speed (Pn56). Analog speed limit input. To set the gain,
offset, and filter for the speed limit, use
Pn50, Pn52, and Pn57, respectively.
TREF2
pin 16
Torque command input. The gain, polarity, offset, and filter for the torque command can
be set using Pn5C and Pn5D. Offsets and filters cannot be used.
Function Explanation Reference page
Torque limit function This function limits the Servomotor’s torque output. 5-26
Speed limit function
This function controls the Servomotor rotation speed so
that it does not become too high.
5-30
3
−
3
−
9V
100
100
200
300[%]
200
300[%]
9V 6
−
6
Output torque (rated torque ratio)
Default setting
Command input
voltage