9 - 45
9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-
6 Exten
d
ed
Ob
jects
9
•
Select the selection method for the positive and negative force limits.
Explanation of Settings
*1
PCL ON is the state in which either the Positive Force Limit Input (PCL) or the EtherCAT communications
torque control command (P-CL) is ON; PCL OFF is the state in which both of these are OFF.
*2
NCL ON is the state in which either the Negative Force Limit Input (NCL) or the EtherCAT communications
torque control command (N-CL) is ON; NCL OFF is the state in which both of these are OFF.
*3
The smaller of 60E0 hex or 3013 hex is used.
*4
The smaller of 60E1 hex or 3522 hex is used.
•
When this object is set to 0 or 1, the Positive and Negative Force Limit Inputs are restricted by the
Positive torque limit value (60E0 hex).
For details, refer to 7-7 Force Limit Switching on page 7-22.
3521 hex
Force Limit Selection
Setting
range
0 to 7
Unit
–
Default
setting
6
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3521hex
set value
Position control/speed control/force control
Positive Direction Force Limit
*1
Negative Direction Force Limit
*2
PCL ON
PCL OFF
NCL ON
NCL OFF
0, 1
3013 hex
2
3013 hex
3522 hex
3
3522 hex
3013 hex
3522 hex
3013 hex
4
60E0 or 3013 hex
*3
60E1 or 3522 hex
*4
5
60E0 or 3013 hex
*3
3013 hex
60E1 or 3522 hex
*4
3522 hex
6
3525 hex
60E0 or 3013 hex
*3
3526 hex
60E1 or 3522 hex
*4
7
3013 hex
3525 hex
3522 hex
3526 hex
csp
