Omron R88M-K User Manual page 409

External Torque Limit 1
3013 hex
Setting range 0 to 5000
Size 2 bytes (INT16)
*1 It is limited by the maximum torque of the connected motor.
• Set the limit values for the motor output torques (3013 hex: External Torque Limit 1, 3522 hex:
External Torque Limit 2).
• Refer to the Torque Limit Selection (3521 hex) for the torque limit selection.
• During torque control, it limits the maximum torque in forward and reverse directions. The settings on
the Torque Limit Selection (3521 hex) and the External Torque Limit 2 (3522 hex) are ignored.
• Set the value in units of 0.1% of the rated torque (100%).
E.g. When the set value is 1500, the maximum torque is limited to 150.0%.
• Refer to 7-7 Torque Limit Switching on page 7-24 for the torque control and the torque limit selection.
Operation Switch when Using Absolute Encoder
3015 hex
Setting range 0 to 2
Size 2 bytes (INT16)
• Set the operating method for the 17-bit absolute encoder.
Explanation of Set Values
Set value
0 Use as absolute encoder.
1 Use as incremental encoder.
2 Use as absolute encoder but ignore multi-rotation counter overflow.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Unit 0.1 %
Access
Torque [%]
300 (max)
If 3013 and 3522 hex = 150.
100 (rating)
Reversed
direction
Unit
Access
9 Details on Servo Parameter Objects
Default setting
RW
Forward
direction
200
100 (rating) (max)
200
300
−
Default setting
RW
Description
*1 Data attribute
5000
PDO map Not possible.
Speed
All (semi)
2 Data attribute
PDO map Not possible.
All
B
C
9
9-5