Torque Limits; Overview - Omron CJ1W-NC271 - 12-2009 Operation Manual

Torque Limits

Timing Chart
Speed command value
(words a+4, a+5)
JOG (word a, bit 09)
Override Enable Bit
(word a, bit 14)
Override (word a+14)
Speed
1500
1000
500
Receiving Command
Flag (word b, bit 00)
Busy Flag (word b, bit 13)
Jogging starts
(JOG Bit ON)
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. − 1) × 25
b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. −1) × 25
10-4 Torque Limits

10-4-1 Overview

The override can be set in the range 1 to 32767 (0.01% to 327.67%). The
actual Servomotor speed control range and minimum control unit depend on
the Servo Drive specifications.
While override is enabled, any changes to the override value are enabled
immediately. While override is enabled, the override ratio can be changed dur-
ing operation by setting a new override value in the Axis Operating Output
Memory Area.
The following timing chart is for when the override function is executed during
a jogging operation.
3E8 hex (1000)
1388 hex (5000 = 50.00%)
Override Override
disabled enabled
When using a G5-series Servo Drive, a G-series Servo Drive or a W-series
Servo Drive, torque limits can be applied to Servomotor axis operation in posi-
tion control functions (ABSOLUTE MOVEMENT, RELATIVE MOVEMENT),
ORIGIN SEARCH, ORIGIN RETURN, JOG, SPEED CONTROL, TORQUE
CONTROL, and Stop Functions (DECELERATION STOP, EMERGENCY
STOP).
There are two types of torque limit, one that constantly functions for forward
and reverse rotation and the other that can be disabled/enabled in operating
commands. For speed control, torque limits can also be added to option com-
mand values. (For details, refer to Option Command Value during Speed Con-
trol in 10-5-2 Starting Speed Control.)
When enabling multiple torque limit functions simultaneously, the Servomo-
tor's output torque is limited by the minimum torque limit setting.
3A98 hex (15000 = 150.00%)
While override is enabled, the target speed
is obtained by multiplying the speed
command value by the override ratio.
Changes to the override value while
override is enabled are immediately
effective in operations.
The acceleration/deceleration used to
change the speed when switching between
enabling and disabling override or
changing the override value depends on
Time
the acceleration/deceleration operation
setting for the operation being performed.
The Receiving Command Flag turns ON
for at least one cycle time when the
Override Jogging stops
command to start axis operation is
changed (JOG Bit OFF)
received. The status of this flag does not
change when the override value is
changed.
The status of the Busy Flag does not
change when switching between
enabling or disabling override, or when
the override value is changed.
Section 10-4
377