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Chapter 5 Data Used for Positioning Control
[Pr.54] OPR torque limit value
Set the value to limit the servomotor torque after reaching the creep speed during
machine OPR.
Refer to Section 13.4.2 "Torque limit function" for details on the torque limits.
[Pr.55] Operation setting for incompletion of OPR
Set whether the positioning control is executed or not (When the OPR request flag
is ON.).
0: Positioning control is not executed.
1: Positioning control is executed.
(1) When OPR request flag is ON, selecting "0: Positioning control is not
executed" will result in the error "Start at OPR incomplete" (error code: 547),
and positioning control will not be performed. At this time, operation with the
manual control (JOG operation, inching operation, manual pulse generator
operation) is available.
The positioning control can be executed even if the OPR request flag is ON
when selecting "1: Positioning control is executed".
(2) The following shows whether the positioning control is possible to start/restart
or not when selecting "0: Positioning control is not executed".
(a) Start possible
Machine OPR, JOG operation, inching operation, manual pulse
generator operation, and current value changing using current value
changing start No. (9003)
(b) Start/restart impossible control
When the following cases at block start, condition start, wait start,
repeated start, multiple axes simultaneous start and pre-reading start:
1-axis linear control, 2/3/4-axis linear interpolation control, 1/2/3/4-axis
fixed-feed control, 2-axis circular interpolation control with sub point
designation, 2-axis circular interpolation control with center point
designation, 1/2/3/4-axis speed control, speed-position switching control
(INC mode/ ABS mode), position-speed switching control, and current
value changing using current value changing (No.1 to 600)
(3) When OPR request flag is ON, starting Fast OPR will result in the error "OPR
request ON" (error code: 207) despite the setting value of "Operation setting
for incompletion of OPR", and Fast OPR will not be executed.
CAUTION
Do not execute the positioning control in home position return request signal ON for the axis
which uses in the positioning control.
Failure to observe this could lead to an accident such as a collision.