Omron Sysmac NY-series

• NegativeValue (Negative Torque Limit)

Relation to Holding Operation of the MC_Home or MC_HomeWithParameter In-
struction for OMRON 1S-series Servo Drives or G5-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 holding direction.
Precautions for Correct Use
The automatic torque limit function of the MC_Home or MC_HomeWithParameter instruction is
not used for servo drives from other manufacturers.
Use the MC_SetT
orqueLimit instruction, SDO communications, or the Support Software for the
Servo Drive to set suitable 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.
For details on homing, refer to MC_Home on page 3-18 and MC_HomeWithParameter on
page 3-41.

Settings for OMRON 1S-series Servo Drives
To use this instruction, you must set the T
orque Limit - Switch Slection (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 Negative Value (Negative Torque
Limit) for the MC_SetTorqueLimit in-
struction is used.
Operations
other than
Homing
The Negative V
alue (Negative Torque
Limit) for the MC_SetTorqueLimit in-
struction is used.
3 Axis Command Instructions
3-351
NY-series Motion Control Instructions Reference Manual (W561)
MC_SetTorqueLimit
3
Function