Omron R88D-KN series User Manual page 232

7 Applied Functions
Force Limit in Position, Speed, and Force Controls
3521 hex
set value
0,1
2
3
4
5
6
7
*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.
7-24
Position control/speed control/force control
Positive Direction Force Limit
PCL ON
3013 hex
3522 hex
60E0 or 3013 hex
*3
60E0 or 3013 hex
3525 hex
60E0 or 3013 hex
3013 hex
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
*1
Negative Direction Force Limit
PCL OFF NCL ON
3013 hex
3013 hex 3522 hex
*3
3013 hex
60E1 or 3522 hex
*3 3526 hex
3525 hex 3522 hex
*2
NCL OFF
3522 hex
3013 hex
*4
60E1 or 3522 hex
*4 3522 hex
60E1 or 3522 hex
3526 hex
*4