8.3 Torque Control
8.3.3 Sample Programming
8-11
8.3.3
Sample Programming
An example of ladder programming that uses a motion command (torque command code = 24)
to perform torque control is shown in the following figures.
When torque control is performed, a speed limit is applied to keep the speed from accelerating
more than necessary.
Line 3: The torque command code is set in the motion command register.
Line 4: The speed limit is specified.
Line 5: The torque reference value is set in DW00001. Lines 12 to 15 apply a filter to the refer-
ence value.
Lines 12 to 15: A first order lag filter is applied to the torque reference value. The first order lag
time constant is three seconds.
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