LSIS XDL-L7NH Series, User Manual, Page: 204 / 348

9. Object Dictionary
9-32
0x2112 External Negative 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 negative torque limit value according to the torque limit function setting
(0x2110).
0x2113 Emergency Stop Torque ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 5000 1000 0.1% RW Yes Always Yes
This specifies the stop torque on emergency stop (when entering POT, NOT, or ESTOP).
0x2114 P/PI Control Conversion Mode ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 4 0 - RW Yes Always Yes
This specifies the switch mode between PI control and P control. Using this function, you can improve
the speed control characteristic to reduce the overshoot during speed operation and the positioning
time during position operation.
Setting values
Setting details
0 Always uses the PI control.
1
Switches to the P control if the command torque is larger than the P
control switching torque (0x2115).
2
Switches to the P control if the command speed is larger than the P
control switching speed (0x2116).
3
Switches to the P control if the acceleration command is larger than the
P control switching acceleration (0x2117).
4
Switches to the P control if the position error is larger than the P control
switching position error (0x2118).
0x2115 P Control Switch Torque ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 5000 500 0.1% RW Yes Always Yes
Refer to the description of the P/PI control switching mode (0X2114).