6-9
6 Basic Control Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
6-3 Cyclic Synchronous Torque Mode
6
6-3-1 Related 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 ï€ 0 to FFFF hex 0000
hex
6060 hex 00 hex Modes of operation RW INT8 ï€ 0 to 10 0
6071 hex 00 hex Target torque RW INT16 0.1% ï€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% ï€5,000 to 5,000 0
6041 hex 00 hex Statusword RO U16 ï€ 0 to FFFF hex 0000
hex
6064 hex 00 hex Position actual
value
RO INT32 Command units ï€2,147,483,648 to
2,147,483,647
0000
hex
606C hex 00 hex Velocity actual
value
RO INT32 Command
units/s
ï€2,147,483,648 to
2,147,483,647
0000
hex
6077 hex 00 hex Torque actual
value
RO INT16 0.1% ï€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. page 9-24
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 ï€
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.
page 9-24
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