Omron R88M-K - Page 449

9-45
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-6 Extended Objects
9
• Select the method to set the forward and reverse torque limits.
• Refer to 7-7 Torque Limit Switching on page 7-24.
Explanation of Set Values
*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.
• When this object is set to 0 or 1, the Forward and Reverse Torque Limit Inputs are restricted by the
Positive torque limit value (60E0 hex).
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.
3521 hex
Torque Limit Selection
Setting range 0 to 7 Unit − Default setting 6 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value
Position control/speed control/torque control/fully-closed control
Positive torque limit value
*1
Negative 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
All