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

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Speed Control Section 10-5
The settings for option command values 1 and 2 (torque limit/torque feed for-
ward command values) and Forward/Reverse Rotation Current Limit Designa-
tion Bits are enabled when the SPEED CONTROL Bit turns ON. Changing
these command values while speed control is being executed and then turn-
ing ON the SPEED CONTROL Bit again enables the option command values
and Current Limit Designation Bits to be changed during operation.
The torque limit for speed control set in the option command values can be
used together with the torque limit function (refer to
10-4 Torque Limits ). When
enabling multiple torque limit functions simultaneously, the Servomotor's out-
put torque is limited by the minimum torque limit setting.
3 0 0 Option command values 1 and
2 are disabled. Use set value 0. Option command values 1 and
2 are disabled. Use set value 0.
0 1 Option command value 2
(words a+12, a+13) functions
as a reverse torque limit value
and the torque limit function is
enabled. Option command value 2
(words a+12, a+13) functions
as a reverse torque limit value
and the torque limit function is
enabled.
1 0 Option command value 1
(words a+10, a+11) functions
as a forward torque limit value
and the torque limit function is
enabled. Option command value 1
(words a+10, a+11) functions
as a forward torque limit value
and the torque limit function is
enabled.
1 1 Option command value 1
(words a+10, a+11) functions
as a torque limit value and the
torque limit function is enabled
in both directions. Option command value 1
(words a+10, a+11) functions
as a forward torque limit value,
option command value 2
(words a+12, a+13) functions
as a reverse torque limit value
and the torque limit function is
enabled.
Torque com-
mand input
change
(Pn002.0)
Forward rota-
tion current limit
designation
(word a+16, bit
14
Reverse rota-
tion current limit
designation
(word a+16, bit
15)
R88D-WT @ + JUSP-NS115 R88D-WN @ -ML2 with built-in
MECHATROLINK-II commu-
nications