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9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-7 Special Objects
9
• Set the time to indicate the node address when the control power is turned ON.
• Set the condition for torque limit output during torque control.
Explanation of Set Value
• Select to enable or disable the backlash compensation during position control. Set the compensation
direction when compensation is enabled.
• Refer to 7-4 Backlash Compensation on page 7-13.
Explanation of Set Value
• Set the backlash compensation amount during position control.
• Refer to 7-4 Backlash Compensation on page 7-13.
• Set the backlash compensation time constant for position control.
• Refer to 7-4 Backlash Compensation on page 7-13.
3701 hex
Power ON Address Display Duration Setting
Setting range 0 to 1000 Unit 100 ms Default setting 0 Data Attribute R
Size 2 bytes (INT16) Access RW PDO map Not possible.
3703 hex
Torque Limit Flag Output Setting
Setting range 0 to 1 Unit − Default setting 0 Data Attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Description
0 On by the torque limit value including the torque command value.
1 On by the torque limit value excluding the torque command value.
3704 hex
Backlash Compensation Selection
Setting range 0 to 2 Unit − Default setting 0 Data Attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Description
0 Disable backlash compensation.
1 Compensate for backlash at first forward operation after the servo turns ON.
2 Compensate for backlash at first reverse operation after the servo turns ON.
3705 hex
Backlash Compensation Amount
Setting range −32768 to
32767
Unit
Command unit
Default setting 0 Data Attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3706 hex
Backlash Compensation Time Constant
Setting range 0 to 6400 Unit 0.01 ms Default setting 0 Data Attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
cst
csp
pp
hm
csp
pp
hm
csp
pp
hm
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