Holding Operation for OMRON 1S-series Servo Drives
Torque limits that are set in the Servo Drive in advance are used for the Homing Operation Modes, 12:
Proximity Reverse T
urn/Holding Time and 13: No Home Proximity Input/Holding Home Input, to
automatically start torque control in the home input detection direction.
Precautions for Correct Use
The automatic torque limit function of the MC_Home instruction is not used for servo drives
from other manufacturers.
Use the MC_SetT
orqueLimit instruction, SDO communications, or support software to set suita-
ble values.
Additional Information
• The torque limits are continued even after a normal completion of homing.
•
The torque limits are automatically released when an instruction that moves the axis in the
opposite direction is executed.
Settings for OMRON 1S-series Servo Drives
T
o use the holding operation, you must set the Torque Limit - Switch Selection (3330-01 hex) for the
1S-series Servo Drive with the Sysmac Studio.
• Set the Torque Limit - Switch Selection to 2 to apply a torque limit in the home input detection direc-
tion during the holding operation for homing and to use the torque limit directions and values that
are set with the MC_SetTorqueLimit instruction for other operations.
In that case, the values of the input variables to the MC_SetTorqueLimit instruction are ignored dur-
ing the holding operation for homing.
• If the Torque Limit - Switch Selection is set to 0, the values of the input variables to the MC_SetTor-
queLimit instruction are always used. You must set torque limits that are suitable both for the holding
operation during homing and for other operations.
Torque Limit - Switch Selection (3330-01 hex)
2 0
Positive Tor-
que Limit
Homing The T
orque Limit - Positive Torque
Limit Value 2 (3330-05 hex) for the
Servo Drive is used.
The PositiveValue (Positive Torque
Limit) for the MC_SetTorqueLimit in-
struction is used.
Operations
other than
Homing
The PositiveV
alue (Positive Torque
Limit) for the MC_SetTorqueLimit in-
struction is used.
Negative Tor-
que Limit
Homing The T
orque Limit - Negative Torque
Limit Value 2 (3330-06 hex) for the
Servo Drive is used.
The NegativeValue (Negative Torque
Limit) for the MC_SetTorqueLimit in-
struction is used.
Operations
other than
Homing
The NegativeV
alue (Negative Torque
Limit) for the MC_SetTorqueLimit in-
struction is used.
For details on torque limits, refer to MC_SetT
orqueLimit on page 3-348.
Also, for details on the settings of 1S-series Servo Drives, refer to the AC Servomotors/Servo Drives
1S-series with Built-in EtherCAT Communications User’s Manual (Cat. No. I586) or AC Servomotors/
Servo Drives 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s
Manual (Cat. No. I621).
3 Axis Command Instructions
3-36
NY-series Motion Control Instructions Reference Manual (W561)
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