Omron OMNUC G Series User Manual page 436

9-1 Parameter Tables
Pn
Parameter name Setting
No.
9
Torque Limit
003
Selection
9-3
Explanation
Selects the torque limit function, or the torque feed-
forward function during speed control.
 Torque Limit Selection
For torque control, always select Pn05E.
For position control and speed control, select the
torque limit as follows.
Use Pn05E as limit value for forward and
1
reverse operations.
Forward: Use Pn05E.
2
Reverse: Use Pn05F.
Switch limits by torque limit values and
input signals from the network.
Limit in forward direction:
PCL is OFF = Pn05E,
3
PCL is ON = Pn05F
Limit in reverse direction:
NCL is OFF = Pn05E,
NCL is ON = Pn05F
Forward: Use Pn05E as limit
Reverse: Use Pn05F as limit
Only in speed control, limits can be
switched by torque limit values from the
network as follows:
Limit in forward direction:
4 Use Pn05E or MECHATROLINK-II
command option command value 1,
whichever is smaller.
Limit in reverse direction:
Use Pn05F or MECHATROLINK-II
command option command value 2,
whichever is smaller.
Forward: Use Pn05E as limit
Reverse: Use Pn05F as limit
Only in speed control, torque limits can be
switched by torque limit values and input
signals from the network as follows.
Limit in forward direction:
PCL is OFF = Pn05E,
5 PCL is ON = Pn05E or MECHATROLINK-
II command option command value 1,
whichever is smaller.
Limit in reverse direction:
NCL is OFF = Pn05F,
NCL is ON = Pn05F or MECHATROLINK-
II command option command value 2,
whichever is smaller.
Note PCL ON: When either Forward Torque
Limit (CN1 PCL: pin 7) or
MECHATROLINK-II
Communications Option Field
(P-CL) is ON.
PCL OFF: When both Forward Torque Limit
(CN1 PCL: pin 7) and
MECHATROLINK-II
Communications Option Field
(P-CL) are OFF.
 Torque Feed-forward Function Selection
Enabled only during speed control.
1 to 3
Disabled if not using speed control.
4 to 5 Always disabled
Default Setting
Unit
Setting Range
1 --- 1 to 5 B
Set
value