User manual

11 Functions and operations in the torque control mode
−97−
Step 3 Performing the torque controlled operation
1.
Set the torque command value.
Analog setting: Set a desired value using the internal/external potentiometer or external DC voltage.
Digital setting: Set a desired operation data number based on a combination of ON/OFF statuses of M0
to M2 inputs.
2.
Turn the CW input or CCW input ON.
Torque controlled operation starts according to the torque command value set in step 1.
3.
Turn the CW input or CCW input OFF.
The motor torque drops to zero and the motor stops immediately.
Even if the CW input and CCW input are turned ON simultaneously, the torque will still drop to zero
and the motor will stop immediately.
MBC output
ON
OFF
MOVE output
ON
OFF
READY output
ON
OFF
M0 to M2 input
ON
OFF
CW/CCW input
ON
OFF
ON
OFF
Torque command
Motor speed
10 ms or less
2 ms or less
No.0
30 r/min
No.1
No.0
No.1
2 ms or less 2 ms or less
20 ms or less
20 ms
20 ms
or less
20 ms
10 ms or less
2 ms or less
2 ms or less
2 ms or less
Release
Hold
Electromagnetic
brake (automatic
control)
Motor
excitation
∗ When the CW (or CCW) input is turned OFF, the motor will remain excited for approx. 20 ms after the torque
command is completed.
Note
Since the operating speed cannot be set in the torque control mode, the motor may
operate at high speed if the load is too small for the command torque.

Notifying that the motor is ready: READY output
When the motor becomes ready, the READY output will turn ON. Start the operation after confirming that the
READY output has turned ON. The READY output remains OFF while the motor is operating.
The READY output is OFF under the following conditions. Motor operation is disabled while the READY
output is OFF:
• The main power supply is cut off.
• An alarm is present.
• The FREE input, CW input or CCW input is ON.
• An operation is performed on the OPX-2A in the test mode or copy mode.
• A test operation is performed using MEXE02.