Omron NY532-1500 Reference Manual page 411

• If the Torque Limit Selection to 4, the values of the input variables to this 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
* Until the torque limit is automatically released.
For details, refer to the AC Servomotors/Servo Drives G5-series with Built-in EtherCAT Communica-
tions User's Manual (Cat. No. I576) or the AC Servomotors/Servo Drives G5-series with Built-in Eth-
erCAT Communications Linear Motor Type User's Manual (Cat. No. I577).
Relationship to the MC_TorqueControl Instruction
The MC_SetTorqueLimit and the MC_TorqueControl instructions can be used together.
Axes in Axes Groups
This instruction can be used for an axis in an enabled axes group.
Relation to CPU Unit Operating Modes
The values that are set with this instruction in RUN mode are also used after the operating mode
changes to PROGRAM mode.
Applicable Axes and Execution Condition
• You can use this instruction for a servo axis.
The status of the Enabled output variable from this instruction, however, depends on the status of
the Servo.
Status of Enabled
* If Enabled from this instruction is FALSE, the torque limits do not function on the Servo Drive.
• This instruction is acknowledged for a virtual servo axis, but torque is not limited.
• An error occurs if the instruction is executed for an encoder or virtual encoder axis.
Axis Variable Status (Servo Drive Status)
When the internal limit function in the Servo Drive is in operation, ILA (Drive Internal Limiting) in the
DrvStatus (Servo Drive Status) in the Axis Variable is TRUE.
This variable gives an OR of the following four: torque limits, velocity limit, drive prohibit inputs, and
software limits.
NY-series Motion Control Instructions Reference Manual (W561)
6 (recommended)
Homing Torque Limit 3 (3525 hex) is used.
Operations The smaller of the PositiveValue
other than Hom- (Positive Torque Limit) for this
ing instruction and Torque Limit 1 (3013
hex) is used.
* Torque Limit 4 (3526 hex) is used.
Homing
Operations The smaller of the NegativeValue
other than Hom- (Negative Torque Limit) for this
ing instruction and Torque Limit 2 (3522
hex) is used.
TRUE
3 Axis Command Instructions
Torque Limit Selection (3521 hex)
The smaller of the PositiveValue
(Positive Torque Limit) for this
instruction and Torque Limit 1 (3013
hex) is used.
The smaller of the NegativeValue
(Negative Torque Limit) for this
instruction and Torque Limit 2 (3522
hex) is used.
Servo ON Servo OFF
*
FALSE
4
3
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