Omron CJ1W-MA - REV 10-2008, Operation Manual

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Torque Limits Section 10-4
Axis Operating Input Memory Areas (Monitoring)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
When using W-series Servo Drives, the set values for Servo Parameters For-
ward Rotation External Current Limit (Pn404) and Reverse Rotation External
Current Limit (Pn405) can be overwritten at any time to change the torque
limit value while the torque limit function is enabled.
When using G-series Servo Drives, the set values for Servo Parameters No.1
Torque Limit (Pn05E) and No.2 Torque Limit (Pn05F) can be overwritten at
any time to change the torque limit value.
During ABSOLUTE MOVEMENT, RELATIVE MOVEMENT (except for INTER-
RUPT FEEDING), SPEED CONTROL, and TORQUE CONTROL execution,
the Current Limit Designation Bit setting can be changed while the axis is
active by turning ON the command's start bit again.
For ORIGIN SEARCH, ORIGIN RETURN, and JOG, torque limits can be
specified only at the start of operation.
Note When executing movement commands sequentially, make sure that the
movement command bit remains OFF for a minimum of either the PLC cycle
time × 2 or the MECHATROLINK communications cycle × 2, whichever is
longer. If the time that the movement command bit is OFF is too short, the
PCU will not be able to detect the rising edge of the movement command bit,
preventing reception of the command.
Name Word Bits Contents
Torque Limit Status Flag b+1 09 1: Torque limit in progress