Omron R88M-K - Page 409

9-5
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-1 Basic Settings
9
*1 It is limited by the maximum torque of the connected motor.
• Set the limit values for the motor output torques (3013 hex: External Torque Limit 1, 3522 hex:
External Torque Limit 2).
• Refer to the Torque Limit Selection (3521 hex) for the torque limit selection.
• During torque control, it limits the maximum torque in forward and reverse directions. The settings on
the Torque Limit Selection (3521 hex) and the External Torque Limit 2 (3522 hex) are ignored.
• Set the value in units of 0.1% of the rated torque (100%).
E.g. When the set value is 1500, the maximum torque is limited to 150.0%.
• Refer to 7-7 Torque Limit Switching on page 7-24 for the torque control and the torque limit selection.
• Set the operating method for the 17-bit absolute encoder.
Explanation of Set Values
3013 hex
External Torque Limit 1
Setting range 0 to 5000 Unit 0.1 %
Default setting
5000
*1
Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3015 hex
Operation Switch when Using Absolute Encoder
Setting range 0 to 2 Unit −
Default setting 2 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Description
0 Use as absolute encoder.
1 Use as incremental encoder.
2 Use as absolute encoder but ignore multi-rotation counter overflow.
All
Speed
200
100 (rating)
(rating)100
200
300
Torque [%]
300 (max)
(max)
Reversed
direction
Forward
direction
If 3013 and 3522 hex = 150.
All (semi)