Omron R88D-KT15F - Page 350

5-15
5-3 Torque Control
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5
Basic Control Mode
Control Mode Selection (Pn001)
Select the torque control (Set values: 2=Torque control, 4=Switching between Position control
and Torque control or 5=Switching between Speed control and torque control).
Analog Torque Command Input Process (Pn317, Pn318, Pn319, Pn320)
Convert the voltage input by an analog input to a torque command to control the motor.
The conversion of analog torque command is explained below.
*1. The motor rotation direction (CW, CCW) specified by the command direction is determined
by the setting of Pn000.
Parameter
number
Parameter name Explanation
Setting
range
Unit
Pn317
Torque
Command/Speed
Limit Selection
Select the input location for the torque
command and speed limit value.
0: Torque command: Analog input 1
speed limit: Pn321
1: Torque command: Analog input 2
speed limit: Analog input 1
2: Torque command: Analog input 1
speed limit: Pn321, Pn322
0 to 2 −
Pn318
Torque Command
Direction
Selection
Select the method for selecting the
direction for the torque command.
0: Use the sign
1: Use TVSIGN
0 or 1 −
Pn319
Torque Command
Scale
Set the input gain for analog torque
command input.
10 to 100 0.1 V/100%
Pn320
Analog Torque
Command
Rotation Direction
Switching
Reverse the polarity of the torque
command input.
0: Forward operation
1: Reverse operation
0 or 1 −
Torque
Command /
Speed
Limit
Selection
(Pn317)
Torque
Command
Direction
Selection
(Pn318)
Analog
Torque
Command
Rotation
Direction
Switching
(Pn320)
Analog torque
command
(TREF)
Torque
command
sign
selection
(TSIGN)
Torque
command
direction*
1
Conversion
graph
0
0
0
+Voltage (0 to 10 V)
Not
affected
Forward
direction
Figure A
-Voltage (-10 to 0 V)
Reverse
direction
1
+Voltage (0 to 10 V)
Reverse
direction
Figure B
-Voltage (-10 to 0 V)
Forward
direction
1
Not affected Not affected
OFF
Forward
direction
Figure C
ON
Reverse
direction