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9 Details on Servo Parameters
9 - 54
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the torque limit function.
• Selects the torque limit switching method.
• When 1 or 2 is set, positive and negative torque limit values vary with state of the torque limit input
(PCL/NCL) and Controlword (P_CL/N_CL).
• When the maximum torque value is smaller than the other torque limit values, it is used as the limit
value.
Description of Set Values
• Sets the maximum torque limit value. The function of this object is the same as the
Max torque
(6072 hex). Set this object when you use a limit value without mapping 6072 hex to a PDO.
9-5-7
3330 hex: Torque Limit
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
opera-
tion
3330
---
Torque Limit
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
81 hex
---
1 byte
(U8)
RO
---
---
---
01
Switching Selec-
tion
0 to 2
---
0
A
4 bytes
(INT32)
RW
---
---
cst
02
Max Torque
0 to 5,000
0.1%
5,000
A
2 bytes
(U16)
RW
-
-
csp, csv,
cst, pp,
pv, hm
03
Positive Torque
Limit Value
0 to 5,000
0.1%
5,000
A
2 bytes
(U16)
RW
---
---
csp, csv,
cst, pp,
pv, hm
04
Negative Torque
Limit Value
0 to 5,000
0.1%
5,000
A
2 bytes
(U16)
RW
---
---
csp, csv,
cst, pp,
pv, hm
05
Positive Torque
Limit Value 2
0 to 5,000
0.1%
5,000
A
2 bytes
(U16)
RW
---
---
csp, csv,
cst, pp,
pv, hm
06
Negative torque
limit value 2
0 to 5,000
0.1%
5,000
A
2 bytes
(U16)
RW
-
-
csp, csv,
cst, pp,
pv, hm
81
Status
---
---
---
---
4 bytes
(INT32)
RO
---
---
csp, csv,
cst, pp,
pv, hm
Subindex 01 hex: Switching Selection
Set value
Description
0
Switching by PCL/NCL signal is not allowed. Use the Positive torque limit value and Negative
torque limit value.
1
Use the Positive Torque Limit Value 2 when both of the torque limit input (PCL) and Control-
word (P_CL) are OFF, and the Positive Torque Limit Value for the other combinations.
If both the torque limit input (NCL) and Controlword (N_CL) are OFF, the Negative torque limit
value 2 is used. In other cases, the Negative torque limit value is used.
2
Use the Positive Torque Limit Value when both of the torque limit input (PCL) and Controlword
(P_CL) are OFF, and the Positive Torque Limit Value 2 for the other combinations.
If both the torque limit input (NCL) and Controlword (N_CL) are OFF, the Negative torque limit
value is used. In other cases, the Negative torque limit value 2 is used.
Subindex 02 hex: Max Torque
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 973: ......