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Chapter 12 Expansion Control
[4] Torque control mode
Operation for torque control mode
The torque control is executed at the command torque set in "[Cd.143] Command
torque at torque control mode" in the torque control mode. "[Cd.143] Command
torque at torque control mode" can be changed any time during torque control
mode. The relation between the setting of command torque and the torque
generation direction of servomotor varies depending on the setting of servo
parameters "Rotation direction selection/travel direction selection (PA14)" and
"Function selection C-B POL reflection selection at torque control (PC29)".
(1) When servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "0: Enabled"
"Rotation direction selection/travel
direction selection (PA14)"
"[Cd.143] Command torque at torque control
mode"
Torque generation direction of servo motor
0: Forward rotation (CCW) with the
increase of the positioning address
Positive value (Forward direction) CCW direction
CW
direction
CCW
direction
Negative value (Reverse direction) CW direction
1: Reverse rotation (CW) with the
increase of the positioning address
Positive value (Forward direction) CW direction
Negative value (Reverse direction) CCW direction
(2) When servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "1: Disabled"
"Rotation direction selection/travel
direction selection (PA14)"
"[Cd.143] Command torque at torque control
mode"
Torque generation direction of servo motor
0: Forward rotation (CCW) with the
increase of the positioning address
Positive value (Forward direction) CCW direction
CW
direction
CCW
direction
Negative value (Reverse direction) CW direction
1: Reverse rotation (CW) with the
increase of the positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction