Omron OMNUC G5 R88M-K series User Manual page 324

8-6 Extended Parameters
Pn521
Torque Limit Selection
Setting
range
 Select the method to set the forward and reverse torque limits, and the torque feed forward
function during speed control.
 Refer to "6-7 Torque Limit Switching (P.6-21)".
Explanation of Set Values
Set
value
0,1
2
3
4
5
6
8
Set
value
0,1
2
3
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)
 When the parameter is set to 0 or 1, the Forward and Reverse Torque Limit Inputs are restricted
by the No.1 Torque Limit (Pn013).
 During torque control, the value set on the No.1 Torque Limit (Pn013) becomes the forward and
reverse limits, regardless of the set value on this parameter. The Torque feed forward function is
also disabled.
8-49
0 to 6 Unit
Position Control / Full Closing Control
Forward Reverse
Torque Limit Torque Limit
PCL PCL NCL NCL
*1 *2 *1
ON OFF ON OFF
Pn013
Pn013 Pn522
Pn522 Pn013 Pn522 Pn013
Pn013 Pn522
Pn525 Pn013 Pn526 Pn522
Torque Control
Forward Reverse
Torque Torque
Limit Limit
Pn013
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Default

setting
Torque FF: Torque feed forward function
Forward Torque
Limit
Torque
FF
PCL
*2 *1
ON
Pn013
Pn522
Pn013 or
Disabled
P_TLIM
Pn013
or
*3
P_TLIM
Pn525
Torque FF
Disabled
Position Speed Full closing
Data
1
attribute
Speed Control
Reverse Torque
Limit
PCL NCL NCL
*2 *1 *2
OFF ON OFF
Pn013
Pn522
Pn013 Pn522 Pn013
Pn522 or
*3 *4
N_TLIM
Pn522
Pn013 or Pn522
*4
N_TLIM
Pn013 Pn526 Pn522 Enabled
B
Torque
FF
Enabled
Disabled