6-9
6 Basic Control Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
6-
3 Cyc
lic Sync
hr
ono
us T
o
rq
u
e
Mod
e
6
6-3-1 Re
lated
Objects
Restricts the speed as the protection during force control.
Controls that the speed does not exceed the Speed Limit during force control.
6-3-1
Related Objects
Index
Sub-
index
Name
Access
Size
Unit
Setting range
Default
setting
6040 hex
00 hex
Controlword
RW
U16
0 to FFFF hex
0000
hex
6060 hex
00 hex
Modes of operation
RW
INT8
0 to 10
0
6071 hex
00 hex
Target torque
RW
INT16
0.1%
5,000 to 5,000
0000
hex
6072 hex
00 hex
Max torque
RW
U16
0.1%
0 to 5,000
5000
607F hex
00 hex
Max profile velocity
RW
U32
Command
units/s
0 to 2,147,483,647
0000
hex
60B2 hex
00 hex
Torque offset
RW
INT16
0.1%
5,000 to 5,000
0
6041 hex
00 hex
Statusword
RO
U16
0 to FFFF hex
0000
hex
6064 hex
00 hex
Position actual
value
RO
INT32
Command units
2,147,483,648 to
2,147,483,647
0000
hex
606C hex
00 hex
Velocity actual
value
RO
INT32
Command
units/s
2,147,483,648 to
2,147,483,647
0000
hex
6077 hex
00 hex
Torque actual
value
RO
INT16
0.1%
5,000 to 5,000
0000
hex
6-3-2
Objects Requiring Settings
Index
Name
Description
Reference
3317 hex
Speed Limit Selection
Select the input location for the speed limit.
Speed Limit Selection (3317 hex)
Index
Name
Description
Setting range
Unit
3317 hex
Speed Limit
Selection
Selects the input type of the Speed Limit during
force
control.
0: Control the speed by the Speed Limit Value
Setting (3321 hex).
1: Control the speed by either one of the smaller
value: the Max Profile Velocity (607F hex) by
EtherCAT communications, or the Speed
Limit Value Setting (3321 hex)
0 to 1
6-3-3
Related Functions
Index
Name
Description
Reference
3321 hex
Speed Limit Value Setting
Set the speed limit value applicable during force control.
During force control, the speed is controlled so as not to
exceed the level set by the speed limit value.