Omron Sysmac NY-series User Manual

Name Meaning Data type Valid range Default Description
NegativeValue Negative Tor-
que Limit
LREAL 0.1 to 1,000.0,
or 0.0
300.0 Set the torque limit in the negative direction
in increments of 0.1%.
If a value that exceeds the Maximum
Negative T
orque Limit axis parameter is
input, the negative torque will be the
Maximum Negative Torque Limit.
The value will be 0 if 0 or a negative value is
specified.
Output Variables
Name Meaning
Data
type
Valid
range
Description
Enabled Enable BOOL TRUE or
F
ALSE
TRUE when control is in progress.
*1
Busy Executing BOOL TRUE or
F
ALSE
TRUE when the instruction is acknowledged.
Error Error BOOL TRUE or
F
ALSE
TRUE while there is an error.
ErrorID Error Code WORD
*2
Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
*1. Enabled indicates the status of the instruction. It does not indicate the status of torque control by the Servo Drive.
*2. The upper four digits of the event code give the error code for ErrorID. Refer to the NY
-series Troubleshooting Manual
(Cat. No. W564) for the event codes.

Output Variable Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
Enabled
• When Enable changes to TRUE.
• When MC_Power is being executed.
• One period after Enable changes to F
ALSE.
• When Error changes to TRUE.
• When Enable for the MC_Power instruction
changes to FALSE.
Busy When Enable changes to TRUE.
• When Error
changes to TRUE.
• When Enable changes to FALSE.
Error When there is an error in the execution condi-
tions or input parameters for the instruction.
When the error is cleared.
In-Out Variables
Name Meaning Data type
Valid
range
Description
Axis Axis _sAXIS_REF ---
Specifies the axis.
*1
*1. Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Ax-
is*) or a system-defined axis variable name (_MC_AX[*]).
If you use Sysmac Studio version 1.29 or higher
, you can specify the system-defined axis variable name for AT specifi-
cation of a user-defined variable. This will allow you to specify the user-defined variable.
If you use Sysmac Studio version 1.28 or lower, do not specify any user-defined variable created in the variable table.
3 Axis Command Instructions
3-349
NY-series Motion Control Instructions Reference Manual (W561)
MC_SetTorqueLimit
3
Variables

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English