4-77
H Related Functions
• Functions related to torque control that can be used during torque control are as follows:
Function name Explanation Reference
Torque limit function This function limits the Servomotor’s torque output. 4-5-10 Torque Limit
Function
Speed limit function This function limits the Servomotor rotation speed from
becoming too high.
4-5-15 Speed Limit
Function
4-5-4 Internally-set Speed Control
H Functions
• Controls the Servomotor speed using the speed (internally-set speed Nos. 1 to 3) set in the parame-
ters.
• Selects the internally-set speed using the control input terminal’s speed selection commands 1 and 2
(SPD1: CN1-45, SPD2: CN1-46), and sets the rotation direction using the rotation direction command
(RDIR: CN1-41) (Pin No. is the default allocation.)
• When SPD1 and SPD2 are both OFF, the Servomotor decelerates and stops according to the decel-
eration time. At this time, you can make pulse train inputs (during position control), speed command
inputs (during speed control), and torque command inputs (during torque control) using the parameter
settings.
Controller
Note internally-set speed
control can only be
performed using dig-
ital I/O signals.
Speed selection
command
OMNUC W-series Servo Driver
Internally-set speed control
Internally-set
speeds 1 to 3
(Pn301 to Pn303)
OMNUC W-series
Servomotor
Rotation
direction
Rotation direc-
tion command
Operation Chapter 4
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