Omron Sysmac NY-series Instruction & Reference Manual page 427

The velocity limit function uses the Servo Drive function.
For details, refer to information on the torque control function in the user manual for the Servo Drive.
Precautions for Correct Use
• The axis velocity increases faster during torque control. Make sure that you set Velocity (ve-
locity limit) for safety.
• When you use an OMRON G5-series Servo Drive, set the Velocity Limit Selection (3317 hex)
of the Servo Drive to 1 (velocity limit value via EtherCAT communications).
Otherwise, the velocity limit is not affected. Also, the axis does not stop even if the limit input
signal turns ON.
• Process data 607F hex is used for the velocity limit value.
When you use an OMRON 1S-series Servo Drive or G5-series Servo Drive, set the Detailed
Settings in the Axis Parameter Settings of the Sysmac Studio to use the Velocity Limit Value
(607F hex).
To use a velocity limit with a servo drive from another manufacturer, refer to the manual for
the servo drive.
 Direction
This variable specifies the direction to output the target torque.
If you want to output torque in the positive direction of the axis, set the positive direction. If you want to
output torque to the negative direction of the axis, set the negative direction.
 BufferMode (Buffer Mode Selection)
This variable specifies how to join the axis motions for this instruction and the previous instruction.
There is currently only the following two settings.
Buffer Mode Selec-
tion
Aborting
Buffered
For details on BufferMode (Buffer Mode Selection), refer to the NY-series Industrial Panel PC /
Industrial Box PC Motion Control User's Manual (Cat. No. W559).
 Stopping Axes during Torque Control
If MC_Stop is executed during MC_TorqueControl execution for an OMRON 1S-series Servo Drive or
G5-series Servo Drive, the deceleration rate that is specified for the MC_Stop instruction is not used
and an immediate stop is performed.
An immediate stop is performed even for errors that normally result in deceleration stops.
 Command Position and Actual Position during Torque Control
The following current positions are given in the system-defined variables for motion control during tor-
que control for this instruction.
Actual current position
Command current position : Contains the actual current position from the previous period.
NY-series Motion Control Instructions Reference Manual (W561)
Aborts the instruction being executed and switches to this instruction.
Automatically executes the buffered instruction after the current instruction is completed.
: Contains the value returned by the Servo Drive multiplied by the gear ratio.
3 Axis Command Instructions
Description
3
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