Omron R88D-KN series User Manual page 299

Force Limit Selection
3521 hex
Setting range 0 to 7
Size 2 bytes (INT16)
• Select the method to set the positive and negative force limits.
Explanation of Settings
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.
• When this object is set to 0 or 1, the Positive and Negative Force Limit Inputs are restricted by the
Positive torque limit value (60E0 hex).
Refer to 7-7 Force Limit Switching on page 7-22.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Unit
Access
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
9 Servo Parameter Objects
Default setting
RW PDO map
*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
csp
6 Data attribute
Not possible.
*2
NCL OFF
3522 hex
3013 hex
*4
60E1 or 3522 hex
*4 3522 hex
60E1 or 3522 hex
3526 hex
B
*4
9
9-41