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7 AUXILIARY AND APPLIED FUNCTIONS
(7) Torque command device
Set the command torque at torque control and continuous operation to torque
control. Command torque can be changed at any time.
(a) Torque control
The relation between setting of command torque and torque generation
direction of servo motor differs from the setting of servo parameter "Rotation
direction selection (PA14)" and "Function selection C-B (PC29) (POL
reflection selection at torque control)".
Table 7.3 Relation between setting of command torque and torque generation
direction of servo motor (Torque control)
Function selection C-B
(PC29) (POL reflection
selection at torque control)"
Rotation direction selection
(PA14)
Torque command device Torque generation direction of servo motor
0: Valid
0: Forward rotation (CCW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
CCW
direction
CW
direction
Negative value (Reverse direction) CW direction
1: Reverse rotation (CW)
with the increase of the
positioning address
Positive value (Forward direction) CW direction
Negative value (Reverse direction) CCW direction
1: Invalid
0: Forward rotation (CCW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction
1: Reverse rotation (CW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction
(b) Continuous operation to torque control
The relation between setting of command torque and torque generation
direction of servo motor is fixed regardless of the setting of servo parameter
"Rotation direction selection (PA14)" and "Function selection C-B (PC29)
(POL reflection selection at torque control)".
Table 7.4 Relation between setting of command torque and torque generation
direction of servo motor (Continuous operation to torque control)
Function selection C-B
(PC29) (POL reflection
selection at torque control)"
Rotation direction selection
(PA14)
Torque command device Torque generation direction of servo motor
0: Valid
0: Forward rotation (CCW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
CCW
direction
CW
direction
Negative value (Reverse direction) CW direction
1: Reverse rotation (CW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction
1: Invalid
0: Forward rotation (CCW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction
1: Reverse rotation (CW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction
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