Omron OMNUC G Series

5-7
5-3 Torque Control
Operating Functions
5
5-3 Torque Control
Function
 Performs torque control using commands from the Position Control Units for MECHATROLINK-II,
CJ1W-NCF71/CS1W-NCF71. The Servomotor operates with the commanded torque output.
The current feedback value is divided by the Electronic Gear Ratio (Pn205/Pn206) and expressed
in the commanded units.
Parameters Requiring Settings
Parameter
No.
Parameter name Explanation Reference page
Pn205
Pn206
Electronic Gear
Ratio 1
(Numerator)
Electronic Gear
Ratio 2
(Denominator)
Sets the electronic gear ratio (G1/G2).
5-85
5-85
Pn053 Speed Limit Limits the speed during torque control. 5-74
Pn05B
Speed Limit
Selection
Selects speed limit control from the network or through
internal parameter Pn053.
5-75
Pn003
Torque Limit
Selection
Selects torque limit from the network or through
parameter settings.
5-87
Pn05E No. 1 Torque Limit Sets the No. 1 Servomotor output torque limit. 5-75
Pn05F No. 2 Torque Limit Sets the No. 2 Servomotor output torque limit. 5-75
Pn01D
Notch Filter 1
Frequency
Sets the notch filter 1 frequency for the torque command. 5-68
Pn028
Notch Filter 2
Frequency
Sets the notch filter 2 frequency for the torque command. 5-71
Host Controller
(MECHATROLINK-II Compatible)
Position Control Unit
CJ1W-NCF71
CS1W-NCF71
(Torque Control
Command)
OMNUC G-Series Servo Drive
OMNUC G-Series
Servomotor
Electronic Gear
Ratio
G1: Pn205
G2: Pn206
G1/G2
Torque Control
Mode
Feedback
Position/Speed
Issue Speed
Limit Command
Issue Torque
Specification Command