Omron CJ1W-MA - REV 10-2008, Руководство по эксплуатации

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Torque Limits Section 10-4
Reverse Torque Limit
A torque limit that has been enabled will continue to function until the For-
ward/Reverse Current Limit Designation Bit is turned OFF and the next oper-
ating command is sent (the specified torque limits continue to be applied even
in Servo lock status after positioning stops).
Note If the axis stops due to an error during axis operation with the torque limit
function enabled, the torque limit when stopped will depend on the setting of
the Forward/Reverse Current Limit Designation Bit. When the Current Limit
Designation Bit is turned ON only at the start of axis operation, and turned
OFF during axis operation, the torque limit will be disabled if the axis stops
due to an error. Make sure that the Current Limit Designation Bit remains ON
for the interval that the torque limit needs to be enabled.
The Torque Limit Status Flag in the Servo Status Flags in the Axis Operating
Input Memory Area turns ON for the time the torque limit is functioning.
G-series Servo Parameter
Area Torque Limit Parameters
W-Series Servo Parameter
Area Torque Limit Parameters
Axis Operating Output Memory Areas (Operating Commands)
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
NCL OFF NCL ON
Pn05E Pn05F
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn05E No.1 torque limit % 0 to 500 2 300
--- Pn05F No.2 torque limit % 0 to 500 2 100
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn404 Forward rotation external current limit % 0 to 800 2 100
--- Pn405 Reverse rotation external current limit % 0 to 800 2 100
Name Word Bits Contents
ABSOLUTE MOVEMENT a 03 0
→
1: Starts absolute movement.
RELATIVE MOVEMENT 04 0
→
1: Starts relative movement.
ORIGIN SEARCH 06 0
→
1: Starts origin search.
ORIGIN RETURN 07 0
→
1: Starts origin return.
JOG 09 0
→
1: Starts jogging.
1
→
0: Stops jogging
Direction designation 10 0: Forward rotation direction
1: Reverse rotation direction
DECELERATION STOP 15 0
→
1: Starts deceleration stop.
SPEED CONTROL a+1 02 0
→
1: Starts speed control.
TORQUE CONTROL 03 0
→
1: Starts torque control.
EMERGENCY STOP 15 0
→
1: Starts emergency stop.
Forward rotation current
limit designation a+16 14 1: Use forward torque limit.
Reverse rotation current
limit designation 15 1: Use reverse torque limit.