Omron OMNUC R88D-WT15HF User Manual page 309

Operation
• Set 1 to limit the output torque to the same value for both forward and reverse regardless of TREF
voltage polarity (read as an absolute value).
• Set 2 to calculate torque corresponding to TREF voltage in the current loop (TREF voltage polarity
enabled).
• Set 3 to limit the forward output torque during PCL input (forward current limit input), and limit the re-
verse output torque during NCL input (reverse current limit input), regardless of TREF voltage polarity
(read as an absolute value).
• You can change the TREF voltage scale using Pn400 (torque command scale). Default setting: 3 V/
rated torque.
Note Other torque limit functions include Pn402 (forward torque limit), Pn403 (reverse torque limit),
Pn404 (Forward rotation external current limit), and Pn405 (Reverse rotation external current lim-
it). The smallest output torque from among the enabled limitations is limited.
Pn002.1 Function selection application switch 2 –– Speed command input switching (Torque)
Setting 0, 1
range
Setting Explanation
Setting
0 Function not used.
1 REF used as analog speed limit.
• Set the REF (speed command input) function for torque control.
• Set 1 to set REF voltage as the analog speed limit, regardless of polarity (read as an absolute value).
• You can change the REF voltage scale using Pn300 (speed command scale). Default setting: 10 V/
rated rotation.
Note Other speed limitation functions include Pn407 (speed limit). The speed is limited to the lower
value.
Pn002.2 Function selection application switch 2 –– Operation switching using an absolute encoder (All
operation modes, absolute)
Setting 0, 1
range
Setting Explanation
Setting
0 Use as an absolute encoder.
1 Use as an incremental encoder.
• When 1 is set, the absolute encoder operates as an incremental encoder (backup battery not neces-
sary).
Note If encoder resolution greater than 2,048 pulses/rotation is required with a 30- to 750-W Servomo-
tor (including Flat-style) at 3,000 r/min., you can use a Servomotor with an absolute encoder
(16,384 pulses/rotation) as a Servomotor with an incremental encoder.
Pn002.3 Function selection application switch 2 –– Fully-closed encoder usage method
Setting 0 to 4
range
4-46
Unit ---
Unit ---
Unit ---
Default 0
setting
Explanation
Default 0
setting
Explanation
Default 0
setting
Chapter 4
Restart Yes
power?
Restart Yes
power?
Restart Yes
power?