Omron R88D-KN01H-ECT-L, User Manual

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7 Applied Functions
7 - 22
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
7-7 Force Limit Switching
This function switches the force limit according to the movement direction, and depending on the
Positive Force Limit (PCL), the Negative Force Limit (NCL), and the Positive /Negative Force Limit Input
Commands from EtherCAT communications.
This function is useful in the following conditions.
• When push-motion operation is performed.
• When the force at startup and during deceleration should be suppressed to protect the
mechanical system, etc.
The Force Limit Selection (3521 hex) setting is used to select a method to switch the force limit.
The force limit switching function works under the following conditions.
*1 Read the word “torque” as “force” when using these objects.
7-7-1 Operating Conditions
Conditions
Operation mode Position Control Mode, Speed Control Mode, Force Control Mode
Others • When Servo is ON.
• When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor’s normal operation.
7-7-2 Objects Requiring Settings
Index Name Description Reference
3013 hex Force Limit 1 Set the first force limit value of the motor output force.
The upper limit of the set value is restricted based on the
maximum force of the motor being connected.
P. 9-5
3521 hex Force Limit Selection Set the force limit selection method. P. 9-45
3522 hex Force Limit2 Set the second force limit value of the motor output force.
The upper limit of the set value is restricted based on the
maximum force of the motor being connected.
P. 9-46
3525 hex Force Limit3 Set the third force limit value of the motor output force.
The upper limit of the set value is restricted based on the
maximum force of the motor being connected.
P. 9-46
3526 hex Force Limit4 Set the fourth force limit value of the motor output force.
The upper limit of the set value is restricted based on the
maximum force of the motor being connected.
P. 9-46
60E0 hex Positive Torque Limit
Value
*1
Set the Positive Force Limit value of the motor output
force. P. A-94
60E1 hex Negative Torque
Limit Value
*1
Set the Negative Force Limit value of the motor output
force. P. A-94