Omron R88D-KN01L-ECT-L User Manual page 249

Force Limit in Position, Speed, and Force Controls
3521 hex
set value
0, 1
2
3
4
5
60E0 or 3013 hex
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.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Position control/speed control/force control
Positive Direction Force Limit
PCL ON PCL OFF
3013 hex
3522 hex 3013 hex
*3
60E0 or 3013 hex
*3
3013 hex
3525 hex 60E0 or 3013 hex
3013 hex 3525 hex
*1
Negative Direction Force Limit
NCL ON
3013 hex
3522 hex
60E1 or 3522 hex
3
60E1or 3522 hex
*3
3526 hex
3522 hex
7 Applied Functions
*2
NCL OFF
3522 hex
3013 hex
*4
*4 3
3522 hex
*4
60E1 or 3522 hex
3526 hex
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