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Chapter 12 Expansion Control
[5] Continuous operation to torque control mode
Operation for continuous operation to torque control mode
In continuous operation to torque control, the torque control can be executed
without stopping the operation during the positioning in position control mode or
speed command in speed control mode.
During the continuous operation to torque control mode, the torque control is
executed at the command torque set in "[Cd.150] Target torque at continuous
operation to torque control mode" while executing acceleration/deceleration to
reach the speed set in "[Cd.147] Speed limit value at continuous operation to
torque control mode".
"[Cd.147] Speed limit value at continuous operation to torque control mode" and
"[Cd.150] Target torque at continuous operation to torque control mode" can be
changed any time during the continuous operation to torque control mode. The
relation between the setting value of command torque and the torque generation
direction of servomotor is fixed regardless of the setting of servo parameters
"Rotation direction selection/travel direction selection (PA14)" and "Function
selection C-B POL reflection selection at torque control (PC29)".
"Rotation direction selection/travel
direction selection (PA14)"
"[Cd.150] Target torque at continuous
operation to 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
Important
Regardless of the setting in "Rotation direction selection/travel direction selection (PA14)", set a
positive value when torque command is in CCW direction of servomotor and a negative value
when torque command is in CW direction of servomotor in "[Cd.150] Target torque at
continuous operation to torque control mode".
If the setting is incorrect, the motor may rotate in an opposite direction.
POINTS
(1) The motor rotates in a direction according to the setting in "[Cd.150] Target
torque at continuous operation to torque control mode". Set the value
corresponding to the motor rotation direction in "[Cd.147] Speed limit value at
continuous operation to torque control mode".
(2) Speed is not limited for reverse torque generation direction.