Torque Limit Switching; Operating Conditions; Objects Requiring Settings - Omron R88M-1M Series User Manual

7-8

Torque Limit Switching

This function switches the torque limit according to the operation direction, and depending on the Posi-
tive Torque Limit (PCL), the Negative Torque Limit (NCL), and the Positive/Negative 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 is suppressed to protect mechanical systems,
etc.
The Torque Limit - Switching Selection (3330-01 hex) is used to select a method to switch the torque
limit.
7-8-1

Operating Conditions

The torque limit switching function is enabled under the following conditions.
• Position control, velocity control, and torque control
• The Servo is ON.
7-8-2

Objects Requiring Settings

Index Subindex
(hex) (hex)
3330
60E0
60E1
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Name
--- Torque Limit
01 Switching Selection
02 Max Torque
03 Positive Torque Limit
Value
04 Negative Torque Limit
Value
05 Positive Torque Limit
Value 2
06 Negative Torque Limit
Value 2
--- Positive torque limit
value
--- Negative torque limit
value
Description
Sets the torque limit function.
Selects the torque limit switching method.
Sets the maximum torque limit value.
Sets the positive torque limit value.
Sets the negative torque limit value.
Sets the positive torque limit value 2.
Sets the negative torque limit value 2.
Sets the positive torque limit value.
Sets the negative torque limit value.
7 Applied Functions
Refer-
ence
P. 9-54
P. 9-54
P. 9-54
P. 9-55
P. 9-55
P. 9-55
P. 9-55
P. A-58
P. A-58
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