Omron OMNUC W Series User Manual page 93

Standard Models and Specifications
When another torque limit function besides Pn404/Pn405 is enabled, the output torque is limited to the
lower of the values.
Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by
setting Pn50A.0 (input signal selection mode) to 1. The PCL signal is allocated by Pn50b.2,
and the NCL signal is allocated by Pn50b.3.
Note 2. With the default allocation, the functions for pins 45 and 46 can be changed to PCL/NCL or
SPD1/SPD2 by means of the Pn000.1 (control mode selection) setting and the control mode
in operation. For details, refer to 4-4-3 Important Parameters.
D Rotation Direction Command Input (41: RDIR)
This signal specifies the direction of rotation when operation is carried out at the internally-set speed
(numbers 1 to 3). When this signal is OFF, the direction is forward; when it is ON, the direction is reverse.
Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by
setting Pn50A.0 (input signal selection mode) to 1. The RDIR signal is allocated by Pn50C.0.
Note 2. With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR,
or IPG according to the Pn000.1 (control mode selection) setting and the control mode in op-
eration. For details, refer to 4-4-3 Important Parameters.
D Speed Selection Command 1 (45: SPD1)
Speed Selection Command 2 (46: SPD2)
These signals are enabled when Pn000.1 (function selection basic switch: control mode selection) is
set to any of the settings from 3 to 6. Depending on the signal combinations, the internally-set speeds for
Pn301 to Pn303 relate to the control modes as shown in the following table.
Control mode
setting
Pn000.1 = 3
Internally-set speed
control
Pn000.1 = 4
internally-set speed
control ↔ Speed
control
Pn000.1 = 5
internally-set speed
control ↔ Position
control
Pn000.1 = 6
internally-set speed
control ↔ Torque
control
Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by
setting Pn50A.0 (input signal selection mode) to 1. The SPD1 signal is allocated by Pn50C.1,
and the SPD2 signal is allocated by Pn50C.2.
Note 2. With the default allocation, the functions for pin 45 and 46 can be changed to PCL/NCL or
SPD1/SPD2 by means of the Pn000.1 (control mode selection) setting and the control mode
in operation. For details, refer to 4-4-3 Important Parameters.
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SPD1: OFF
SPD2: OFF
Stop by speed loop. No. 1 internal
speed setting
(Pn301)
Speed control No. 1 internal
speed setting
(Pn301)
Position control No. 1 internal
speed setting
(Pn301)
Torque control No. 1 internal
speed setting
(Pn301)
SPD2: ON SPD2: OFF
No. 3 internal
speed setting
(Pn303)
No. 3 internal
speed setting
(Pn303)
No. 3 internal
speed setting
(Pn303)
No. 3 internal
speed setting
(Pn303)
Chapter 2
SPD1: ON
SPD2: ON
No. 2 internal
speed setting
(Pn302)
No. 2 internal
speed setting
(Pn302)
No. 2 internal
speed setting
(Pn302)
No. 2 internal
speed setting
(Pn302)
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