Omron R88D-KN ML2 Sries User Manual

6-23
6-7 Torque Limit Switching
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6
Applied Functions
Torque Limits in POSITION, SPEED, TORQUE, and FULL CLOSING CONTROL Modes
The term Torque FF refers to torque feed forward function.
*1.PCL ON refers to the case when either the external input signals (PCL and NCL) or the
MECHATROLINK-II communications option fields (P-CL and N-CL) is on.
*2.PCL OFF refers to the case when both of the external input signals (PCL and NCL) and the
MECHATROLINK-II communications option fields (P-CL and N-CL) are off.
*3.Whichever the smaller: the Pn013 or the MECHATROLINK-II Command Option value 1 (P_TLIM)
*4.Whichever the smaller: the Pn522 or the MECHATROLINK-II Command Option value 2 (N_TLIM)
Torque Limit Settings by Servomotors
 The torque limit setting range is between 0% and 300%. The standard factory 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 / Full Closing Control Speed Control
Forward
Torque Limit
Reverse
Torque Limit
Torque
FF
Forward Torque
Limit
Reverse Torque
Limit
Torque
FF
PCL
ON
*1
PCL
OFF
*2
NCL
ON
*1
NCL
OFF
*2
PCL
ON
*1
PCL
OFF
*2
NCL
ON
*1
NCL
OFF
*2
0,1 Pn013
Disabled
Pn013
Enabled 2 Pn013 Pn522 Pn013 Pn522
3 Pn522 Pn013 Pn522 Pn013 Pn522 Pn013 Pn522 Pn013
4
Pn013 Pn522
Pn013 or
P_TLIM
*3
Pn522 or
N_TLIM
*4
Disabled
5
Pn013
or
P_TLIM
*3
Pn013
Pn522
or
N_TLIM
*4
Pn522
6 Pn525 Pn013 Pn526 Pn522 Pn525 Pn013 Pn526 Pn522
Enabled
Set
value
Torque Control
Forward
Torque
Limit
Reverse
Torque
Limit
Torque
FF
0,1
Pn013
Disabled
2
3
4
5
6
Servo Drive
Applicable
Servomotor
Maximum torque limit
[%]
R88D-KN15x-ML2 R88M-K90010x 225
R88D-KN30x-ML2 R88M-K2K010x 250
R88D-KN50x-ML2 R88M-K3K010x 250

Omron R88D-KN ML2 Sries Specifications

General

Brand	Omron
Model	R88D-KN ML2 Sries
Category	Servo Drives
Language	English