Torque Limit Switching; Operating Conditions; Objects Requiring Settings - Omron R88M-K User Manual

7 Applied Functions
7-7

Torque Limit Switching

This function switches the torque limit according to the operation direction, and depending on the
Forward External Torque Limit (PCL), the Reverse External Torque Limit (NCL), and the Forward/
Reverse Torque Limit Input Commands from EtherCAT communications.
This function is used in the following conditions.
• When push-motion operation, such as pressing, is performed.
• When the torque at startup and during deceleration should be suppressed to protect the
mechanical system, etc.
The Torque Limit Selection (3521 hex) is used to select a method to switch the torque limit.
7-7-1

Operating Conditions

The torque limit switching function works under the following conditions.
Operation mode
Others
7-7-2

Objects Requiring Settings

Index
3521 hex Torque Limit Selection
60E0 hex Positive torque limit value
60E1 hex Negative torque limit value
3525 hex Forward External Torque Limit
3526 hex Reverse External Torque Limit
7-24
Position Control Mode, Speed Control Mode, Torque Control Mode, or Fully-closed Control
Mode
• Servo ON state
• The factors other than control objects must be set correctly. This includes the torque limit.
The motor must operate normally without any failures.
Name
Select the torque limit based on the various objects
and input signals.
Set the forward torque limit value.
Set the reverse torque limit value.
Set the forward torque limit for a network signal.
Set the reverse torque limit for a network signal.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Conditions
Explanation Reference
page 9-45
page A-70
page A-71
page 9-46
page 9-46