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9-25
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
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Single-axis Torque Control
Torque control continuously applies the specified amount of torque. You can use
TorqueRamp
to spec-
ify the rate of change of the torque until the
Torque
(Target Torque) is reached. To stop an axis, use the
MC_Stop instruction or execute another motion instruction. If you specify a
Torque
(Target Torque) of 0,
the axis will not move but the axis status will indicate that it is moving.
The MC Function Module uses the Torque Control Mode of the Servo Drive. The Servo Drive receives
the torque command value from the MC Function Module in the torque control loop and to control the
torque. You can specify the velocity limit value for the Servo Drive in the
Velocity
(Velocity Limit) input
variable to the motion control instruction. You can use this to limit high-speed revolution of the motor
when the load on the motor is low in Torque Control Mode.
Precautions for Correct Use
Precautions for Correct Use
To be safe, always set a velocity limit value for torque control.
For details, refer to the MC_TorqueControl instruction in the
NJ-series Motion Control Instructions Ref-
erence Manual
(Cat. No. W508).
Example 1: Direction Designation =
Positive Direction
Example 2: Direction Designation =
Negative Direction
Torque
Torque
TorqueRamp
TorqueRamp
Time
Torque
Time
Torque
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...