5-63
5-26 User Parameters
Ope
rati
n
g Func
tions
5
003
Torque Limit
Selection
Selects the torque limit function, or the torque
feed-forward function during speed control.
1
---
1 to 5
B
Torque Limit Selection
For torque control, always select Pn05E.
For position control and speed control, select the torque
limit as follows.
1
Use Pn05E as the limit value for forward and
reverse operations.
2
Forward: Use Pn05E.
Reverse: Use Pn05F.
3
Switch limits by torque limit values and input
signals from the network.
Limit in forward direction:
PCL is OFF = Pn05E, PCL is ON = Pn05F
Limit in reverse direction:
NCL is OFF = Pn05E, NCL is ON = Pn05F
4
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be
switched by torque limit values from the network
as follows:
Limit in forward direction:
Use Pn05E or MECHATROLINK-II command
option command value 1, whichever is smaller.
Limit in reverse direction:
Use Pn05F or MECHATROLINK-II command
option command value 2, whichever is smaller.
5
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be
switched by torque limit values and input signals
from the network as follows:
Limit in forward direction:
PCL is OFF = Pn05E,
PCL is ON = Pn05E or MECHATROLINK-II
command option command value 1, whichever is
smaller.
Limit in reverse direction:
NCL is OFF = Pn05F,
NCL is ON = Pn05F or MECHATROLINK-II
command option command value 2, whichever is
smaller.
Note PCL ON: When either Forward Torque Limit
(CN1 PCL: pin 7) or MECHATROLINK-
II Communications Option Field (P-CL)
is ON.
PCL OFF: When both Forward Torque Limit (CN1
PCL: pin 7) and MECHATROLINK-II
Communications Option Field (P-CL)
are OFF.
Torque Feed-forward Function Selection
1 to 3
Enabled only during speed control. Disabled if not
using speed control.
4 to 5 Always disabled
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
