Omron CJ1W-NC271 - 12-2009, Руководство по эксплуатации

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Torque Control
Section 10-6
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
Note (1) A command range check (0 to 10,000) is performed for the option com-
mand value for torque control when the torque control command is given.
If the option command value is out of range, an option command value
error (error code: 3064) will occur. The command range check will be per-
formed even if the Servo Parameter
Speed Limit Selection (Pn317) when
using G5-series Servo Drives, Servo Parameter Speed Limit Selection
(Pn05B) when using G-series Servo Drives, or the Torque Command In-
put Change parameter in the Function Selection Application Switches 2
when using W-series Servo Drives is set to disable using the option com-
mand value. Always set the option command value to 0 when it is not be-
ing used.
(2) The same option command value parameter is used for both speed and
torque control. The allowable setting ranges for speed and torque control,
however, are different. When switching between speed and torque con-
trol, be sure that the option command value is set within the proper range
for the current type of control.
Changes to the torque command value during operation are always effective.
during torque control, by setting a new torque command value in the Axis
Operating Output Memory Area, the target torque for torque control can be
changed.
The data for option command value 1 (speed limit value) is enabled when the
start bit for TORQUE CONTROL turns ON. Changing these set values while
torque control is being executed and then turning ON the TORQUE CON-
TROL Bit again enables the speed limit value to be changed during operation.
The torque limit can also be applied by turning ON the Forward/Reverse Rota-
tion Current Limit Designation Bit when executing TORQUE CONTROL. (For
details, refer to
10-4-3 Torque Limits Set by Operating Commands .)
Torque command value a+8
a+9 --- Torque command value (rightmost word)
Torque command value (leftmost word)
Unit: 0.001%
(percentage of Servomotor’s momentary maximum torque)
Command range:
−
199.999 to 199.999%
(FFFCF2C1 hex to 00030D3F hex)
Note The rotation direction is determined by the sign.
Option command value 1 a+10
a+11
--- Speed limit value (rightmost word)
Speed limit value (leftmost word)
Unit: 0.001%
(percentage of Servomotor's momentary maximum rotation speed)
Command range: 0 to 100.000% (See note 1.)
(00000000 hex to 000186A0 hex)
The option command value 1 can be used as the speed limit value during
torque control by setting the Servo Parameter
Speed Limit Selection
(Pn317) when using G5-series Servo Drives, Speed Limit Selection
(Pn05B) when using G-series Servo Drives, and the Speed Command Input
Change in Servo Parameter Function Selection Application Switch 1
(Pn002.1) when using W-series Servo Drives.
Forward rotation current
limit designation a+16 14 1: Use forward torque limit.
Reverse rotation current
limit designation 15 1: Use reverse torque limit.
Name Word Bits Contents