9 Servo Parameter Objects
9 - 48
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
• Set the value to be added to a force command during negative movement in the Position Control
Mode.
• Set the value in units of 1% of the rated force (100%).
For details, refer to 11-9 Friction Force Compensation Function on page 11-30.
• Set the functions by bit.
• Set the decimal value that has been converted from the bits.
• In the default settings, only the command compensation for communications errors for CSP is
enabled. The number 64 decimal is 1,000,000 when represented as bits.
Explanation of Settings
3609 hex
Negative Direction Force Offset
Setting
range
–100 to 100
Unit
%
Default
setting
0 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
3610 hex
Function Expansion Setting
Setting
range
0 to 511
Unit
–
Default
setting
64 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
Bit Function
Set value
0 1
bit 0 Instantaneous speed observer
function
Disabled Enabled
bit 1 Disturbance observer function Disabled Enabled
bit 2 Disturbance observer operation
setting
Enabled at all time Only when Gain 1 is selected
bit 3 Reserved Fixed to 0.
bit 4 Electric current response
improvement function
Disabled Enabled
bit 5 Reserved Fixed to 0.
bit 6 Command compensation for
communications errors for CSP
Disabled Enabled
bit 7 INP output
limit
Positioning
completion
signal (INP1)
Output based on the
presence/absence of a position
error or command, regardless
of the completion status of
magnetic pole position
estimationn.
When the Magnetic Pole
Detection Method (3920 hex) is
set to 2, both the positioning
completion signal 1 (INP1) and
the positioning completion
signal 2 (INP2) will be forced to
OFF unless magnetic pole
position estimation is
completed.
Positioning
completion
signal (INP2)
Output based on the position
error, regardless of the
completion status of magnetic
pole position estimation.
bit 8 Reserved Fixed to 0.
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