Omron R88M-K User Manual page 449

Torque Limit Selection
3521 hex
Setting range 0 to 7
Size 2 bytes (INT16)
• Select the method to set the forward and reverse torque limits.
• Refer to 7-7 Torque Limit Switching on page 7-24.
Explanation of Set Values
Set value
0,1
2
3
4
5
6
7
*1 PCL ON is the state in which either the external input signal (PCL) or the EtherCAT communications torque
control command (P-CL) is ON; PCL OFF is the state in which both of these are OFF.
*2 NCL ON is the state in which either the external input signal (NCL) or the EtherCAT communications torque
control command (N-CL) is ON; NCL OFF is the state in which both of these are OFF.
*3 The smaller of 60E0 hex or 3013 hex is used.
*4 The smaller of 60E1 hex or 3522 hex is used.
• When this object is set to 0 or 1, the Forward and Reverse Torque Limit Inputs are restricted by the
Positive torque limit value (60E0 hex).
Precautions for Correct Use Precautions for Correct Use
For the torque limit parameters, the objects that are specified are different for an R88D-
KN
(Cat. No. I573) for details on R88D-KN
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Unit
Access
Position control/speed control/torque control/fully-closed control
Positive torque limit value
PCL ON
3013 hex
3522 hex
60E0 or 3013 hex
*3
60E0 or 3013 hex
3525 hex
60E0 or 3013 hex
3013 hex
-ECT-R Servo Drive. Refer to the G5 AC Servomotors/Servo Drives User's Manual
9 Details on Servo Parameter Objects
−
Default setting
RW
*1
Negative torque limit value
PCL OFF NCL ON
3013 hex
3013 hex 3522 hex
*3
3013 hex
60E1 or 3522 hex
*3 3526 hex
3525 hex 3522 hex
-ECT-R objects.
6 Data attribute
PDO map Not possible.
*2
NCL OFF
3522 hex
3013 hex
*4
60E1 or 3522 hex
*4 3522 hex
60E1 or 3522 hex
3526 hex
All
B
*4
9
9-45