Omron OMNUC G5 Series

7
7-22
7-7 Torque Limit Switching
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Applied Functions
Torque Limits in Position Control Mode or Fully-closed Control Mode
The term Torque FF refers to the torque feed-forward function.
*1. When either the external input signal (PCL or NCL) or the EtherCAT communications torque control
command (P-CL or N-CL) is ON.
*2. When both the external input signal (PCL or NCL) and the EtherCAT communications torque control
command (P-CL or N-CL) are OFF.
Torque Limit Settings by Servomotors
 The torque limit setting range is between 0% and 300%. The default setting is 300%. This is not
the case when a Servo Drive and a Servomotor are used in the following combinations.
Set
value
Position Control/Fully-closed Control
Forward torque limit value Reverse torque limit value
Torque FF
PCL ON
*1
PCL OFF
*2
NCL ON
*1
NCL OFF
*2
0,1 60E0 hex
Disabled
2 60E0 hex 60E1 hex
3 60E1 hex 60E0 hex 60E1 hex 60E0 hex
4
60E0 hex 60E1 hex
5
6 3525 hex 60E0 hex 3526 hex 60E1 hex
7 60E0 hex 3525 hex 60E1 hex 3526 hex
Servo Drive
Applicable
Servomotor
Maximum torque limit
[%]
R88D-KN15@-ECT-R R88M-K90010@ 225