Omron NJ501-1300, Руководство пользователя

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5-13
5 Motion Control Parameters
NJ-series CPU Unit Motion Control User’s Manual (W507)
5-2 Axis P
aram
eter
s
5
5-2-6 Limit Settings
* If Positive Torque Limit (60E0 hex) and Negative Torque Limit (60E1 hex) are mapped as PDOs, the set values of
these parameters are sent with EtherCAT process data communications. If a torque limit is enabled with the
MC_SetTorqueLimit instruction, the value that is specified with the input variable to the instruction is sent.
Use the following parameters to select functions for limiting the following error and for software limits.
* This function is enabled only when the Count Mode is Linear Mode and the home is defined.
Refer to 9-8-5 Software Limits for details on software limits.
Set the count mode for the position.
Maximum Positive
Torque Limit
Set the maximum value of the positive torque limit.
*
(Unit: %)
0.0 to 1000.0 300.0
Maximum Negative
Torque Limit
Set the maximum value of the negative torque limit.
*
(Unit: %)
0.0 to 1000.0 300.0
5-2-6 Limit Settings
Parameter name Function Setting range Default
Software Limits
* Select the software limit function.
0: Disabled.
1: Deceleration stop for command position
2: Immediate stop for command position
3: Deceleration stop for actual position
4: Immediate stop for actual position
0 to 4 0
Positive Software
Limit Set the software limit in the positive direc-
tion. (Unit: command units) Long reals 2,147,483,647
Negative Software
Limit Set the software limit in the negative direc-
tion. (Unit: command units) Long reals
−
2,147,483,648
Following Error Over
Value Set the excessive following error check
value. Set 0 to disable the excessive follow-
ing error check. (Unit: command units) Non-negative long
reals 0
Following Error
Warning Value Set the following error warning check value.
Set 0 to disable the following error warning
check. (Unit: command units) Non-negative long
reals that are less
than or equal to the
Following Error Over
Value 0
5-2-7 Position Count Settings
Parameter name Function Setting range Default
Count Mode
Set the count mode for the position.
0: Linear Mode (finite length)
1: Rotary Mode (infinite length)
0 to 1 0
Modulo Maximum
Position Setting
Value Set the modulo maximum position when the
Count Mode is set to Rotary Mode. (Unit:
command units) Long reals 2,147,483,647
Modulo Minimum
Position Setting
Value Set the modulo minimum position when the
Count Mode is set to Rotary Mode. (Unit:
command units) Long reals
−
2,147,483,648
Encoder Type Set the encoder type.
0: Incremental encoder (INC)
1: Absolute encoder (ABS)
0 to 1 0
Parameter name Function Setting range Default