Omron OMNUC G User Manual page 320

5-27 Details on Important Parameters
Pn No.
Pn003
Selects torque limit function, or torque feed-forward function during speed control.
Torque Limit Selection
Select the torque limit for position control or speed control as follows.
5
Note 1. PCL ON: When either Forward Torque Limit (CN1 PCL: pin 7) or MECHATROLINK-II
Note 2. For torque control, always select Pn05E.
Torque Feed-forward Function Selection
5-87
Parameter name
Torque Limit Selection
Setting
1 Use Pn05E as the limit value for forward and reverse operations.
Forward: Use Pn05E as limit.
2
Reverse: Use Pn05F as limit.
Switch limits by torque limit values and input signals from the network.
3 Limit in forward direction: 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.
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.
Setting
1 to 3 Enabled only during speed control. Disabled if not using speed control.
4 to 5 Always disabled.
Setting
Unit
range
1 to 5 ---
Explanation
Explanation
Default
Attribute
setting
1 B