Omron OMNUC G Series User Manual

5-9
5-3 Torque Control
Operating Functions
5
Parameter Block Diagram for Torque Control Mode
Absolute
Value
Sign
*1
SM
RE
+
−
+
−
*1
*2
*2
Pn053: Internal Value
Pn05B:
Selection Setting
Speed Limit Value
[VLIM/TSPD]
Torque Command
TQRFF [%]
Torque Command
Monitor
[TRQ]
Command Speed
Monitor
[CSPD]
Feedback Position
[AOPS/LPOS]
Feedback Speed
[FSPD]
Absolute
Value
X
MECHATRO
LINK-II
MECHATRO
LINK-II
Speed
PI Processor
Pn011:
Speed Gain 1
Pn012:
Integration
Time Constant 1
Pn019:
Speed Gain 2
Pn01A:
Integration
Time Constant 2
Pn020:
Inertia Ratio
Speed Detection Filter
Pn013: Filter 1
Pn01B: Filter 2
Speed Command
Monitor
Speed Monitor SP
Torque Monitor IM
Torque
PI
Processor
Receive
Encoder
Signal
Current Feedback
Torque Limit
Pn003: Selection
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
Torque Limit PCL/NCL
Notch Filter
Pn01D: Filter 1 Frequency
Pn01E: Filter 1 Width
Pn028: Filter 2 Frequency
Pn029: Filter 2 Width
Pn02A: Filter 2 Depth
Pn02F: Adaptive Filter
Torque Command Filter
Pn014: Filter
Pn01C: Filter 2
Electronic Gear
Pn205: Numerator
Pn206: Denominator
Speed Limit Selection
Unit Conversion

Omron OMNUC G Series Specifications

General

Brand	Omron
Model	OMNUC G Series
Category	Servo Drives
Language	English