Chapter 8 Motion Control Function
8.2.3 Single-axis Torque Control
If motion function block(「Torque control(MC_TorqueControl)」) is executed, torque control of the axis is made with the set torque
value.
1. Features of Control
(1) Torque control of the specified axis is made using target torque value and torque rising slope.
(2) Torque rising slope (TorqueRamp) is the rate of change in torque per second to the target torque, and time to
reach the target torque can be calculated as follows.
Time to reach the target torque(s) = target torque (Torque) / torque rising slope (TorqueRamp)
(3) Torque control mode is executed using torque control mode of servo drive.
(4) Target torque values are rounded to two decimals and reflected in [0.1%] unit.
(5) In Direction input, the direction to be operated is specified.
(However, the forward direction is based on the operating direction specified with the Torque input. For example,
if a negative value is specified in Torque value, and reverse direction in direction (Direction) input, the axis is
finally operated in forward direction.)
■ Setting value: 1-Forward, 2-Reverse, 3-Current direction
(6) Negative number can be set for Torque (target torque) input value. In case the target torque setting value is
negative number, operating direction becomes the opposite direction of the previously specified direction.
■ Forward operation
- Torque > 0, Direction=1: Forward
- Torque < 0, Direction=2: Reverse
■ Reverse operation
- Torque > 0, Direction=2: Reverse
- Torque < 0, Direction=1: Forward
(7) The setting range of the torque values are as follows.
-1000.0 % ~ 1000 %
(8) After reaching the target torque, Intorque output of function block is On. In case there is a pending command,
the pending command is executed after InTorque output is On.
(9) Torque control which is currently being executed is stopped with halt(MC_Halt) or immediate stop (MC_Stop)
motion function block.
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