Omron Sysmac NY-series - MC_SetTorqueLimit

MC_SetTorqueLimit
The MC_SetTorqueLimit instruction limits the torque output from the Servo Drive through the torque
limit function of the Servo Drive.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_SetTorqueLi-
mit
Set Torque
Limit
FB
MC_SetTorq
ueLimit_instance
NegativeValue
Axis Axis
Enable Enabled
PositiveEnable
NegativeEnable
Error
ErrorID
MC_SetTorqueLimit
PositiveValue
Busy
MC_SetTorqueLimit_instance (
Axis :=parameter,
Enable :=parameter,
PositiveEnable :=parameter,
PositiveV
alue :=parameter,
NegativeEnable :=parameter,
NegativeValue :=parameter,
Enabled =>parameter,
Busy =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Precautions for Correct Use
You cannot use this instruction for an NX-series Pulse Output Unit.
Variables
Input Variables
Name Meaning Data type Valid range Default Description
Enable Enable BOOL TRUE or FALSE FALSE The instruction is executed while this varia-
ble is TRUE.
PositiveEnable Positive Di-
rection Ena-
ble
BOOL TRUE or FALSE FALSE TRUE: Enables the positive torque limit.
F
ALSE: Disables the positive torque limit.
PositiveValue Positive Tor-
que Limit
LREAL 0.1 to 1,000.0,
or 0.0
300.0 Set the torque limit in the positive direction
in increments of 0.1%.
If a value that exceeds the Maximum
Positive T
orque Limit axis parameter is in-
put, the positive torque will be the
Maximum Positive Torque Limit.
The value will be 0 if 0 or a negative value is
specified.
NegativeEnable Negative Di-
rection Ena-
ble
BOOL TRUE or FALSE FALSE TRUE: Enables the negative torque limit.
F
ALSE: Disables the negative torque limit.
3 Axis Command Instructions
3-348
NY-series Motion Control Instructions Reference Manual (W561)