Function - Omron NY532-1500 Reference Manual

3 Axis Command Instructions
Name Meaning
NegativeValue Negative
Torque Limit
Output Variables
Name Meaning
Enabled Enable
Busy Executing
Error Error
ErrorID Error Code
*1 Enabled indicates the status of the instruction. It does not indicate the status of torque control by the Servo Drive.
*2 Refer to the NY-series Troubleshooting Manual (Cat. No. W564).
Output Variable Update Timing
Name
Enabled • When Enable changes to TRUE.
• When MC_Power is being executed.
Busy When Enable changes to TRUE.
Error When there is an error in the execution conditions or
input parameters for the instruction.
In-Out Variables
Name Meaning
Axis Axis
* Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Axis***)
or a system-defined axis variable name (_MC_AX[*], _MC1_AX[*], or _MC2_AX[*]).

Function

• The MC_SetTorqueLimit instruction sets the torque limits that are used by the Servo Drive.
• When Enable is TRUE and PositiveEnable (Positive Direction Enable) changes to TRUE, control is
performed with PositiveValue (Positive Torque Limit).
When Enable is TRUE and NegativeEnable (Negative Direction Enable) changes to TRUE, control is
performed with NegativeValue (Negative Torque Limit).
3-324
Data type Valid range
LREAL 0.1 to 1000.0 or 0.0
Data type Valid range
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
WORD *2
Timing for changing to TRUE
Data type Valid range
_sAXIS_REF ---
Default
300.0 Set the torque limit in the negative
direction in increments of 0.1%.
If a value that exceeds the Maxi-
mum Negative Torque Limit axis
parameter, the negative torque will
be the Maximum Negative Torque
Limit.
The value will be 0 if 0 or a negative
value is specified.
Description
TRUE when control is in progress.
TRUE when the instruction is acknowledged.
TRUE while there is an error.
Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
Timing for changing to FALSE
• One period after Enable changes to
FALSE.
• When Error changes to TRUE.
• When Enable for MC_Power instruction
changes to FALSE.
• When Error changes to TRUE.
• When Enable changes to FALSE.
When the error is cleared.
Description
Specify the axis.
NY-series Motion Control Instructions Reference Manual (W561)
Description
*1
*