9 - 5
9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-
1
B
a
si
c
S
e
tt
in
g
s
9
•
Set the load mass as a percentage of the Motor Coil Unit Mass.
•
3004 hex = (Load mass/Motor Coil Unit Mass) x 100%.
•
When realtime autotuning is enabled, the Mass Ratio is continuously estimated and saved to the
EEPROM every 30 minutes.
•
If the Mass Ratio is set correctly, the setting unit for the Speed Loop Gain 1 (3101 hex) and Speed
Loop Gain 2 (3106 hex) is Hz.
•
If the Mass Ratio (3004 hex) is set larger than the actual value, the setting for speed loop gain will
increase. If the Mass Ratio (3004 hex) is set smaller than the actual value, the setting for speed loop
gain will decrease.
•
Set the first force limit value of the motor output force.
•
Refer to the Force Limit Selection on page 9-45 for details of force limit selection.
•
During force control, it limits the maximum force in positive and negative directions.
•
Set the value in units of 0.1% of the rated force (100%).
E.g. When the maximum force is limited to 150%.
For the force limits and force limit selection, also refer to 7-7 Force Limit Switching on page 7-22.
3004 hex
Mass Ratio
Setting
range
0 to 10,000
Unit
%
Default
setting
250
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3013 hex
Force Limit 1
Setting
range
0 to 5,000
Unit
0.1%
Default
setting
5,000
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
A l l
A l l
200
100
200
300
300 (maximum)
100 (rated)
When 3013 or 3522 hex = 150
Force [%]
(maximum)
Negative direction
Positive direction
Speed
(rated)
