Omron NY532-1500 Reference Manual page 118

3 Axis Command Instructions
Additional Information
• The torque limits are continued even after a normal completion of homing.
• The torque limits are automatically released when an instruction that moves the axis in the
opposite direction is executed.
Settings for OMRON G5-series Servo Drives
To use the holding operation, you must use the support software of the Servo Drive to set the Torque
Limit Selection (3521 hex) in the G5-series Servo Drive.
• Set the Torque Limit Selection to 6 to apply a torque limit in the home input detection direction
during the holding operation for homing and to use the torque limit directions and values that are
set with the MC_SetTorqueLimit instruction for other operation. In that case, the values of the
input variables to the MC_SetTorqueLimit instruction are ignored during the holding operation for
homing.
• If the Torque Limit Selection is set to 4, the values of the input variables to the MC_SetTorqueLimit
instruction are always used. You must set torque limits that are suitable for both for the holding
operation during homing and for other operations.
Positive Torque
Limit
Negative Torque
Limit
For details on torque limits, refer to MC_SetTorqueLimit on page 3-323. For the settings for the G5-
series Servo Drive, refer to the AC Servomotors/Servo Drives G5-series with Built-in EtherCAT
Communications User's Manual (Cat. No. I576) or the AC Servomotors/Servo Drives G5-series with
Built-in EtherCAT Communications Linear Motor Type User's Manual (Cat. No. I577).
Monitoring Following Error during Holding Operation
The following error is not monitored during the holding operation for homing.
For details on monitoring the following error, refer to the NJ/NX-series CPU Unit Motion Control
User's Manual (Cat. No. W507) or NY-series Industrial Panel PC / Industrial Box PC Motion Control
User's Manual (Cat. No. W559).
3-34
6 (recommended)
Homing Torque Limit 3 (3525 hex) is used.
Operations other The smaller of the PositiveValue
than Homing (Positive Torque Limit) for the MC_-
SetTorqueLimit instruction and
Torque Limit 1 (3013 hex) is used.
Homing Torque Limit 4 (3526 hex) is used.
Operations other The smaller of the NegativeValue
than Homing (Negative Torque Limit) for the
MC_SetTorqueLimit instruction and
Torque Limit 2 (3522 hex) is used.
Torque Limit Selection (3521 hex)
The smaller of the PositiveValue
(Positive Torque Limit) for the MC_-
SetTorqueLimit instruction and
Torque Limit 1 (3013 hex) is used.
The smaller of the NegativeValue
(Negative Torque Limit) for the
MC_SetTorqueLimit instruction and
Torque Limit 2 (3522 hex) is used.
NY-series Motion Control Instructions Reference Manual (W561)
4