R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 293

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

5-4 Torque Control
Function
Parameters Requiring Settings
OMRON
controllers are not
available with
torque command
voltage output.
Controller with
analog voltage
Pn02 = 2 or 4 (Torque Control, Torque/Position Switch Control)
output
• Controls the Servomotor output torque using analog voltage input from the torque command
• You can change the relation between the torque command and output torque using the Torque
• The setting procedure depends on the control mode.
Note Servomotor rotation speed in torque control varies according to the Servomotor load
(TREF: CN1 pins 14 to 17).
Command Scale (Pn5C) setting.
TREF1/
TREF2
pin 14
pin 16
VLIM
conditions (e.g., friction, external power, inertia). Take safety measures on the machine
device side to prevent Servomotor runaway.
Analog voltage
(torque command)
Torque command input. Set the gain, polar-
ity, offset, and filter for the torque command
by using Pn5C, Pn5D, Pn52, and Pn57.
This input is disabled.
The speed limit will be the No. 4 Internally
Set Speed (Pn56).
Pn5B = 0
14
15
16
17
TREF1
/VLIM
AGND
TREF2
AGND
OMNUC G-Series Servo Drive
Torque Control Mode
Torque Command
Scale (Pn5C)
Torque
V
Analog speed limit input. To set the gain,
offset, and filter for the speed limit, use
Pn50, Pn52, and Pn57, respectively.
Torque command input. Set the gain and
polarity for the torque command by using
Pn5C and Pn5D. Offsets and filters cannot
be used.
5-4 Torque Control
Pn5B = 1
OMNUC G-Series
Servomotor
5-8
5