LSIS XDL-L7NH Series, User Manual, Page: 203 / 348

9. Object Dictionary
9-31
0x210F Torque Feed-forward Filter Time Constant ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 1000 10
0.1
ms
RW Yes Always Yes
This applies low pass filter to the compensated amount added to the torque command by the torque
feed-forward gain.
0x2110 Torque Limit Function Select ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 4 2 - RW Yes Always Yes
This specifies the function to limit the output torque of the drive.
Setting
values
Description
0
Limits the torque using positive/negative torque limit value according to the
driving direction; the maximum value is limited by the maximum torque
(0x6072).
- Forward: 0x60E0, Reverse: 0x60E1
1
Limits the torque only by the maximum torque (0x6072) regardless of the
driving direction.
2
Limits the torque using external positive/negative torque limit value
according to the driving direction.
- Forward: 0x2111, Reverse: 0x2112
3
Limits the torque using internal and external torque limit value according to
the driving direction and the torque limit signal.
- Forward: 0x60E0(if P_CL signal is not input), 0x2111(if P_CL signal is
input)
- Reverse: 0x60E1(if N_CL signal is not input), 0x2112(if N_CL signal is
input)
4
Limited by the analog input torque limit.
- Refer to analog torque limit scale (0x221C) and offset (0x221D)
0x2111 External Positive Torque Limit Value ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 5000 3000 0.1% RW Yes Always Yes
This specifies the external positive torque limit value according to the torque limit function setting
(0x2110).