Omron R88D-1SN ECT Series User Manual

9 Details on Servo Parameters
9 - 54
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the torque limit function.
• Selects the torque limit switching method.
• When 1 or 2 is set, positive and negative torque limit values vary with state of the torque limit input
(PCL/NCL) and Controlword (P_CL/N_CL).
• When the maximum torque value is smaller than the other torque limit values, it is used as the limit
value.
 Description of Set Values
• Sets the maximum torque limit value. The function of this object is the same as the Max torque
(6072 hex). Set this object when you use a limit value without mapping 6072 hex to a PDO.
9-5-7 3330 hex: Torque Limit
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3330 --- Torque Limit --- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 81 hex --- 1 byte
(U8)
RO --- --- ---
01 Switching Selec-
tion
0 to 2 --- 0 A 4 bytes
(INT32)
RW --- --- cst
02 Max Torque 0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RW - - csp, csv,
cst, pp,
pv, hm
03 Positive Torque
Limit Value
0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RW --- --- csp, csv,
cst, pp,
pv, hm
04 Negative Torque
Limit Value
0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RW --- --- csp, csv,
cst, pp,
pv, hm
05 Positive Torque
Limit Value 2
0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RW --- --- csp, csv,
cst, pp,
pv, hm
06 Negative torque
limit value 2
0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RW - - csp, csv,
cst, pp,
pv, hm
81 Status --- --- --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
Subindex 01 hex: Switching Selection
Set value Description
0 Switching by PCL/NCL signal is not allowed. Use the Positive torque limit value and Negative
torque limit value.
1 Use the Positive Torque Limit Value 2 when both of the torque limit input (PCL) and Control-
word (P_CL) are OFF, and the Positive Torque Limit Value for the other combinations.
If both the torque limit input (NCL) and Controlword (N_CL) are OFF, the Negative torque limit
value 2 is used. In other cases, the Negative torque limit value is used.
2 Use the Positive Torque Limit Value when both of the torque limit input (PCL) and Controlword
(P_CL) are OFF, and the Positive Torque Limit Value 2 for the other combinations.
If both the torque limit input (NCL) and Controlword (N_CL) are OFF, the Negative torque limit
value is used. In other cases, the Negative torque limit value 2 is used.
Subindex 02 hex: Max Torque

Omron R88D-1SN ECT Series Specifications

General

Feedback	Incremental encoder, Absolute encoder
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Communication Interface	EtherCAT
Power Supply Voltage	200 to 240 VAC
Output Power	0.1 to 1.5 kW
Input Voltage Range	170 to 264 VAC
Control Method	Sine-wave PWM control
Main Circuit Power Supply	200-240 VAC
Applicable Motor Capacity	0.1 to 1.5 kW
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overheating, Encoder Error
Ambient Operating Temperature	0 to 55°C
Vibration Resistance	4.9 m/s² (10 to 55 Hz)
Shock Resistance	98 m/s2
Weight	Varies by model