7-21
7-7 Torque Limit Switching
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7
Applied Functions
7-7 Torque Limit Switching
This function switches the torque limit according to the operation direction, and depending on
the Forward External Torque Limit (PCL), the Reverse External Torque Limit (NCL), and the
Forward/Reverse Torque Limit Input Commands from EtherCAT communications.
This function is used in the following conditions.
• When push-motion operation, such as pressing, is performed.
• When the torque at startup and during deceleration should be suppressed to protect the
mechanical system, etc.
The Torque Limit Selection (3521 hex) is used to select a method to switch the torque limit.
Operating Conditions
The torque limit switching function works under the following conditions.
Objects Requiring Settings
Conditions
Operation mode Position Control Mode or Fully-closed Control Mode
Others
 Servo ON state
 The factors other than control objects must be set correctly. This includes the
torque limit. The motor must operate normally without any failures.
Index Name Explanation Reference
3521 hex Torque Limit Selection
Select the torque limit based on the various objects
and input signals.
page 9-36
60E0 hex Positive torque limit value Set the forward torque limit value. page 6-53
60E1 hex Negative torque limit value Set the reverse torque limit value. page 6-53
3525 hex
Forward External Torque
Limit
Set the forward torque limit for a network signal. page 9-36
3526 hex
Reverse External Torque
Limit
Set the reverse torque limit for a network signal. page 9-36
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