Omron Sysmac NY-series User Manual

The status of the Enabled
output variable from this instruction, however, depends on the status of
the Servo.
Servo ON Servo OFF
Status of Enabled TRUE
FALSE
*1
*1. If Enabled from this instruction is F
ALSE, the torque limits do not function on the Servo Drive.
• This instruction is acknowledged for a virtual servo axis, but torque is not limited.
•
An error occurs if the instruction is executed for an encoder or virtual encoder axis.

Axis Variable Status (Servo Drive Status)
When the internal limit function in the Servo Drive is in operation, ILA (Drive Internal Limiting) in
DrvStatus (Servo Drive Status) in the Axis V
ariable is TRUE.
This variable gives an OR of the following four: torque limits, velocity limit, drive prohibit inputs, and
software limits.
Timing Chart
The following chart shows the timing of the torque limits.
NegativeEnabl
e
PositiveEnable
Enabled
Busy
Error
16#0000
ErrorID
Enable
Re-execution of Motion Control Instructions
You cannot re-execute motion instructions with enable-type inputs.
Multi-execution of Motion Control Instructions
For details on multi-execution of motion control instructions, refer to the NY
-series Industrial Panel
PC / Industrial Box PC Motion Control User’s Manual (Cat. No. W559).

Multi-execution of MC_SetTorqueLimit Instructions
If an instance of this instruction is executed during execution of another instance for the same axis, the
instance that is executed last takes priority in processing.
Enabled will be TRUE for both instructions.
3 Axis Command Instructions
3-353
NY-series Motion Control Instructions Reference Manual (W561)
MC_SetTorqueLimit
3
Function

Omron Sysmac NY-series Specifications

General

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