8-49
8-6 Extended Parameters
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
Parameters Details
Select the method to set the forward and reverse torque limits, and the torque feed forward
function during speed control.
Refer to "6-7 Torque Limit Switching (P.6-21)".
Explanation of Set Values
Torque FF: Torque feed forward function
*1.PCL ON refers to the case when either the external input signals (PCL and NCL) or the
MECHATROLINK-II communications option fields (P-CL and N-CL) is on.
*2.PCL OFF refers to the case when both of the external input signals (PCL and NCL) and the
MECHATROLINK-II communications option fields (P-CL and N-CL) are off.
*3.Whichever the smaller: the Pn013 or the MECHATROLINK-II Command Option value 1 (P_TLIM)
*4.Whichever the smaller: the Pn522 or the MECHATROLINK-II Command Option value 2 (N_TLIM)
When the parameter is set to 0 or 1, the Forward and Reverse Torque Limit Inputs are restricted
by the No.1 Torque Limit (Pn013).
During torque control, the value set on the No.1 Torque Limit (Pn013) becomes the forward and
reverse limits, regardless of the set value on this parameter. The Torque feed forward function is
also disabled.
Pn521
Torque Limit Selection
Setting
range
0 to 6
Unit
Default
setting
1
Data
attribute
B
Position Speed Full closing
Set
value
Position Control / Full Closing Control
Speed Control
Forward
Torque Limit
Reverse
Torque Limit
Torque
FF
Forward Torque
Limit
Reverse Torque
Limit
Torque
FF
PCL
ON
*1
PCL
OFF
*2
NCL
ON
*1
NCL
OFF
*2
PCL
ON
*1
PCL
OFF
*2
NCL
ON
*1
NCL
OFF
*2
0,1
Pn013
Disabled
Pn013
Enabled
2
Pn013
Pn522
Pn013
Pn522
3
Pn522 Pn013 Pn522 Pn013
Pn522
Pn013
Pn522
Pn013
4
Pn013
Pn522
Pn013 or
P_TLIM
*3
Pn522 or
N_TLIM
*4
Disabled
5
Pn013
or
P_TLIM
*3
Pn013
Pn522
or
N_TLIM
*4
Pn522
6
Pn525 Pn013 Pn526 Pn522
Pn525
Pn013
Pn526
Pn522 Enabled
Set
value
Torque Control
Forward
Torque
Limit
Reverse
Torque
Limit
Torque FF
0,1
Pn013
Disabled
2
3
4
5
6
