8.3 Torque Control
8.3.1 Machine Configuration
8-10
8.3
Torque Control
This section provides an example of torque control. The torque control is programmed with a
ladder program that uses motion commands.
8.3.1
Machine Configuration
The machine configuration is the same as in 8.1 One Axis Positioning.
Refer to the following section for details on the machine configuration.
8.1.1 Machine Configuration on page 8-2
8.3.2
Related Parameters
The parameters that are related to the sample programming are listed in the following table.
Fixed Parameters
Note: The default settings are used for the shaded parameters.
Setting Parameters
The SVC Function Module, circuit number 1, and axis number 1 are used. The motion register
addresses of the setting parameters are OW08000 to OW0807F.
Monitor Parameters
The SVC Function Module, circuit number 1, and axis number 1 are used. The motion register
addresses of the monitor parameters are IW08000 to IW0807F.
This section describes the basic programming necessary to move the machine. The example in
this section does not include interlocks or other elements that must be included for an actual sys-
tem.
No. Setting Description
0 0 Normal operation mode
1 0001 hex Finite length, software limits disabled, overtravel detection disabled, etc.
2 0000 hex Masking disabled.
4 1 Selected reference unit: mm
5 3 Number of digits below decimal point: 3 (i.e., 1 reference unit = 0.001 mm)
6 6000 Travel distance per machine rotation: 6,000 reference units = 6 mm
81
Servomotor gear ratio term: 1 (This is because the ball screw is directly driven by the
motor.)
91
Machine gear ratio term: 1 (This is because the ball screw is directly driven by the
motor.)
29 0 Rotary motor
30 1 Absolute encoder
34 3000
Rated motor speed: 3,000 min
-1
36 1048576 Number of pulses per motor rotation: 1,048,576 P/R
OB or OL may be used in some register addresses in place of OW, depending on the data
size.
IB or IL may be used in some register addresses in place of IW, depending on the data size.
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