R88A-CNG02R Omron, R88A-CNG02R Datasheet - Page 434

• Manufacturer Part Number: R88A-CNG02R
• Description: Encoder Connector INC Motor
• Manufacturer: Omron

Specifications of R88A-CNG02R

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

7
7-5 Manual Tuning
7-25
Torque Control Mode Adjustment
Setting Speed Limit Values
Torque control is based on a speed control loop using the No. 4 Internally Set Speed (Pn56) or the
Speed Command Input/Torque Command Input as the speed limit. This section describes the
settings for these speed limit values.
Set the speed limit value in the No.4 Internally Set Speed (Pn56) (if the Torque Command/Speed
Limit Selection (Pn5B) is set to 0) or input the speed limit value to the Speed Command Input/
Torque Command Input (REF/TREF1) (if the Torque Command/Speed Limit Selection (Pn5B) is set
to 1).
• When the Servomotor nears the speed limit, it will switch from torque control following the analog
• Parameters must be set according to the procedure given in Speed Control Mode Adjustment to
• The input to the torque limit section will be small and the torque may not be produced as specified
torque command to speed control commanded with speed limit values determined by the No. 4
Internally Set Speed (Pn56) or the Speed Command Input/Torque Command Input (REF/TREF1).
perform stable operation when the speed is limited.
by the analog torque command if the No.4 Internally Set Speed (Pn56) or the Speed Command
Input/Torque Command Input (REF/TREF1) is too small or if the Speed Loop Gain is too low or
the Speed Loop Integration Time Constant is 1000 (disabled).