Omron R88D-KN series

9 Servo Parameter Objects
9-42
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
• Set the limit value for the output force (Force Limit 1: 3013 hex, Force Limit 2: 3522 hex) of the motor.
• Refer to information on the Force Limit Selection (3521 hex) to select the force limits.
• During force control, maximum forces for both positive and negative directions are limited. Settings in
Force Limit Selection (3521 hex) and Force Limit 2 (3522 hex) is ignored.
•
Make the settings as a percentage of the rated force.
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.
• Set the third force limit value of the motor output force.
• Refer to Force Limit 2 on page 9-42 for settings.
For the force limits and force limit selection, also refer to 7-7 Force Limit Switching on page 7-22.
• Set the fourth force limit value of the motor output force.
• Refer to Force Limit 2 on page 9-42 for settings.
For the force limits and force limit selection, also refer to 7-7 Force Limit Switching on page 7-22.
3522 hex
Force Limit 2
Setting range 0 to 5000 Unit 0.1% Default setting 5000 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3525 hex
Force Limit 3
Setting range 0 to 5000 Unit 0.1% Default setting 5000 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3526 hex
Force Limit 4
Setting range 0 to 5000 Unit 0.1% Default setting 5000 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
cst
Speed
200
100 (rated)
(rated) 100
200
300
Force [%]
300 (maximum)
(maximum)
Negative
Positive
When 3013 or 3522 hex = 150
csp
cst
csp
cst