6.3 Main Commands
6-39
6.3.31 Torque Control (TRQCTRL: 3DH)
• Related Parameters
• Speed Reference Option Operation
Byte TRQCTRL Description
Command Response
1 3DH 3DH Processing
classifications
Motion command
group
Synchronization
classifications
Asynchronous
2 ALARM Processing time Within communi-
cations cycle
Subcommand Can be used
3OPTIONSTATUS• The Servo does not perform position control and speed control, but directly
performs torque control.
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the
following cases.
- During phases other than phases 2 and 3: Command warning 1 (A.95A)
• OPTION field can be used. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• TOREF
TOREF is a torque reference and has signed 4 bytes of data. The unit for
torque reference is [maximum motor torque/40000000H]. The direction is
specified by the sign.
When the designation for TOREF is larger, it is clamped at the maximum
torque.
• During execution of this command, the following bits of STATUS are
allocated.
D11: V_LIM (speed limit bit)
0: Speed limit not detected
1: Speed limit detected
• MONITOR1, 2, 3, 4 (monitor)
The unit for torque is [maximum motor torque/40000000H].
• Setting the speed reference option (VLIM)
Setting range: 0 to 40000000H (maximum motor speed/40000000H)
Refer to on page 6-39.
4
5 VLIM MONITOR1
6
7
8
9 TQREF MONITOR2
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16 WDT RWDT
17 For
subcommands
use. Refer to
6.4
Subcommands.
For
subcommands
use. Refer to
6.4
Subcommands.
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn407 Speed Limit at Torque Control
Parameter Description
Pn002 n.0 VLIM is not available.
Set VLIM to 0.
n.
1 VLIM operates as the speed limit value.
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