Omron R88D-GT series, Руководство пользователя

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5-8
5-4 Torque Control
5
Ope
rati
ng Func
tions
5-4 Torque Control
Function
• Controls the Servomotor output torque using analog voltage input from the torque command
(TREF: CN1 pins 14 to 17).
• You can change the relation between the torque command and output torque using the Torque
Command Scale (Pn5C) setting.
• The setting procedure depends on the control mode.
Parameters Requiring Settings
Pn02 = 2 or 4 (Torque Control, Torque/Position Switch Control)
Note Servomotor rotation speed in torque control varies according to the Servomotor load
conditions (e.g., friction, external power, inertia). Take safety measures on the machine
device side to prevent Servomotor runaway.
Pn5B = 0 Pn5B = 1
TREF1/
VLIM
pin 14
Torque command input. Set the gain, polar-
ity, offset, and filter for the torque command
by using Pn5C, Pn5D, Pn52, and Pn57. Analog speed limit input. To set the gain,
offset, and filter for the speed limit, use
Pn50, Pn52, and Pn57, respectively.
TREF2
pin 16
This input is disabled.
The speed limit will be the No. 4 Internally
Set Speed (Pn56).
Torque command input. Set the gain and
polarity for the torque command by using
Pn5C and Pn5D. Offsets and filters cannot
be used.
TREF2
AGND
16
17
TREF1
/VLIM
AGND
14
15
V
Controller with
analog voltage
output
OMRON
controllers are not
available with
torque command
voltage output.
Analog voltage
(torque command)
OMNUC G-Series Servo Drive
Torque Control Mode
Torque Command
Scale (Pn5C)
Torque
OMNUC G-Series
Servomotor