Torque Limit Switching; Operating Conditions; Objects Requiring Settings - Omron OMNUC G5 Series User Manual

7-7 Torque Limit Switching

7-7 Torque Limit Switching

This function switches the torque limit according to the operation direction, and depending on
the Forward External Torque Limit (PCL), the Reverse External Torque Limit (NCL), and the
Forward/Reverse Torque Limit Input Commands from EtherCAT communications.
This function is used in the following conditions.
The Torque Limit Selection (3521 hex) is used to select a method to switch the torque limit.

Operating Conditions

The torque limit switching function works under the following conditions.
Operation mode
7

Objects Requiring Settings

Index
3521 hex Torque Limit Selection
60E0 hex Positive torque limit value
60E1 hex Negative torque limit value
Forward External Torque
3525 hex
Limit
Reverse External Torque
3526 hex
Limit
7-21
• When push-motion operation, such as pressing, is performed.
• When the torque at startup and during deceleration should be suppressed to protect the
mechanical system, etc.
Position Control Mode or Fully-closed Control Mode
Servo ON state
The factors other than control objects must be set correctly. This includes the
Others
torque limit. The motor must operate normally without any failures.
Name
Select the torque limit based on the various objects
and input signals.
Set the forward torque limit value.
Set the reverse torque limit value.
Set the forward torque limit for a network signal.
Set the reverse torque limit for a network signal.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Conditions
Explanation Reference
page 9-36
page 6-53
page 6-53
page 9-36
page 9-36