Omron OMNUC G5 R88M-K series User Manual page 251

Torque Limits in POSITION, SPEED, TORQUE, and FULL CLOSING CONTROL Modes
Position Control / Full Closing Control
Forward
Set
Torque Limit
value
PCL
*1
ON
0,1
2 Pn013
3 Pn522
4
Pn013
5
6 Pn525
Torque Control
Set
Forward
value
Torque
Limit
0,1
2
3
Pn013
4
5
6
*1.PCL ON refers to the case when either the external input signals (PCL and NCL) or the
MECHATROLINK-II communications option fields (P-CL and N-CL) is on.
*2.PCL OFF refers to the case when both of the external input signals (PCL and NCL) and the
MECHATROLINK-II communications option fields (P-CL and N-CL) are off.
*3.Whichever the smaller: the Pn013 or the MECHATROLINK-II Command Option value 1 (P_TLIM)
*4.Whichever the smaller: the Pn522 or the MECHATROLINK-II Command Option value 2 (N_TLIM)
Torque Limit Settings by Servomotors
 The torque limit setting range is between 0% and 300%. The standard factory setting is 300%.
This is not the case when a Servo Drive and a Servomotor are used in the following combinations.
Servo Drive
R88D-KN15x-ML2
R88D-KN30x-ML2
R88D-KN50x-ML2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
The term Torque FF refers to torque feed forward function.
Reverse
Torque Limit
Torque
PCL NCL NCL
*2 *1 *2
OFF ON OFF
Pn013
Pn522
Pn013 Pn522 Pn013
Disabled
Pn522
Pn013 Pn526 Pn522
Reverse
Torque
Torque
FF
Limit
Disabled
Applicable
Servomotor
R88M-K90010x
R88M-K2K010x
R88M-K3K010x
6-7 Torque Limit Switching
Speed Control
Forward Torque
Limit
FF
PCL PCL
*1 *2
ON OFF
Pn013
Pn013
Pn522 Pn013
Pn013 or
*3
P_TLIM
Pn013
or Pn013
*3
P_TLIM N_TLIM
Pn525 Pn013
Maximum torque limit
[%]
225
250
250
Reverse Torque
Limit
Torque
FF
NCL NCL
*1 *2
ON OFF
Pn522 Enabled
Pn522 Pn013
Pn522 or
*4
N_TLIM
Disabled
Pn522
or Pn522
*4
Pn526 Pn522 Enabled
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