Omron R88D-KN series User Manual page 263

3004 hex
Mass Ratio
Setting range 0 to 10000
Size 2 bytes (INT16)
• Set the load mass as a percentage of the Motor Coil Unit Mass.
• 3004 hex = (Load mass/Motor Coil Unit Mass) x 100%
• When realtime autotuning is enabled, the Mass Ratio is continuously estimated and saved to the
EEPROM every 30 minutes.
• If the Mass Ratio is set correctly, the setting unit for the Speed Loop Gain 1 (3101 hex) and Speed
Loop Gain 2 (3106 hex) is Hz.
• If the Mass Ratio (3004 hex) is set larger than the actual value, the setting for speed loop gain will
increase. If the Mass Ratio (3004 hex) is set smaller than the actual value, the setting for speed loop
gain will decrease.
Force Limit 1
3013 hex
Setting range 0 to 5000
Size 2 bytes (INT16)
• Set the limit value 1 for the motor output force.
• Refer to the Force Limit Selection on page 9-41 for details of force limit selection.
• During force control, it limits the maximum force in positive and negative directions.
• Set the value in units of 0.1% of the rated voltage (100%).
E.g. When the maximum force is limited to 150.0%.
Refer to 7-7 Force Limit Switching on page 7-22 for the force control and the force limit selection.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Unit
Access
Unit 0.1 %
Access
Force [%]
300 (max)
If 3013 and 3522 hex = 150.
100 (rating)
Negative
direction
9 Servo Parameter Objects
% Default setting
RW
Default setting
RW
Positive
direction
200
100 (rating) (max)
200
300
250 Data attribute
PDO map Not possible.
5000 Data attribute
PDO map Not possible.
Speed
All
B
All
B
9
9-5