Omron OMNUC G User Manual page 296

5-26 User Parameters
Pn
Parameter name Setting
No.
5
Torque Limit
003
Selection
5-63
Explanation
Selects the torque limit function, or the torque
feed-forward function during speed control.
Torque Limit Selection
For torque control, always select Pn05E.
For position control and speed control, select the torque
limit as follows.
Use Pn05E as the limit value for forward and
1
reverse operations.
Forward: Use Pn05E.
2
Reverse: Use Pn05F.
Switch limits by torque limit values and input
signals from the network.
Limit in forward direction:
3
PCL is OFF = Pn05E, PCL is ON = Pn05F
Limit in reverse direction:
NCL is OFF = Pn05E, NCL is ON = Pn05F
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be
switched by torque limit values from the network
as follows:
4 Limit in forward direction:
Use Pn05E or MECHATROLINK-II command
option command value 1, whichever is smaller.
Limit in reverse direction:
Use Pn05F or MECHATROLINK-II command
option command value 2, whichever is smaller.
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be
switched by torque limit values and input signals
from the network as follows:
Limit in forward direction:
PCL is OFF = Pn05E,
5 PCL is ON = Pn05E or MECHATROLINK-II
command option command value 1, whichever is
smaller.
Limit in reverse direction:
NCL is OFF = Pn05F,
NCL is ON = Pn05F or MECHATROLINK-II
command option command value 2, whichever is
smaller.
Note PCL ON: When either Forward Torque Limit
(CN1 PCL: pin 7) or MECHATROLINK-
II Communications Option Field (P-CL)
is ON.
PCL OFF: When both Forward Torque Limit (CN1
PCL: pin 7) and MECHATROLINK-II
Communications Option Field (P-CL)
are OFF.
Torque Feed-forward Function Selection
Enabled only during speed control. Disabled if not
1 to 3
using speed control.
4 to 5 Always disabled
Default Setting
Unit
setting range
1 --- 1 to 5 B