Omron R88M-K - Page 379

7-25
7 Applied Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-7 Torque Limit Switching
7
7-7-2 Objects Requiring Settings
*1 PCL ON is the state in which either the external input signal (PCL) or the EtherCAT communications torque
control command (P-CL) is ON; PCL OFF is the state in which both of these are OFF.
*2 NCL ON is the state in which either the external input signal (NCL) or the EtherCAT communications torque
control command (N-CL) is ON; NCL OFF is the state in which both of these are OFF.
*3 The smaller of 60E0 hex or 3013 hex is used.
*4 The smaller of 60E1 hex or 3522 hex is used.
Precautions for Correct UsePrecautions for Correct Use
• For the torque limit parameters, the objects that are specified are different for an R88D-
KN-ECT-R Servo Drive. Refer to the G5 AC Servomotors/Servo Drives User’s Manual
(Cat. No. I573) for details on R88D-KN-ECT-R objects.
• 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.
Torque Limit in Position, Speed, Torque, and Fully-Closed Controls
Set
value
Position control/speed control/torque control/fully-closed control
Forward torque limit value
*1
Reverse torque limit value
*2
PCL ON PCL OFF NCL ON NCL OFF
0,1 3013 hex
2 3013 hex 3522 hex
3 3522 hex 3013 hex 3522 hex 3013 hex
4
60E0 or 3013 hex
*3
60E1 or 3522 hex
*4
5
60E0 or 3013 hex
*3
3013 hex
60E1 or 3522 hex
*4
3522 hex
6 3525 hex
60E0 or 3013 hex
*3
3526 hex
60E1 or 3522 hex
*4
7 3013 hex 3525 hex 3522 hex 3526 hex
Torque Limit Settings by Servomotors
Servo Drive
Applicable
Servomotor
Maximum torque limit
[%]
R88D-KN15-ECT R88M-K90010 225
R88D-KN30-ECT R88M-K2K010 250
R88D-KN50-ECT R88M-K3K010 250
R88M-K4K510 263
R88D-KN75-ECT R88M-K6K010 272
R88D-KN75H-ECT R88M-K7K515T 265
R88D-KN75F-ECT R88M-K7K515C 267
R88D-KN150-ECT R88M-K11K015 265
R88M-K15K015 253