Omron R88D-KN series User Manual page 10

CONTENTS
5-7 Emergency Messages ........................................................................................................... 5-14
5-8 Sysmac Device Features....................................................................................................... 5-15
Section 6 Basic Control Functions
6-1 Cyclic Synchronous Position Mode....................................................................................... 6-2
6-1-1 Related Objects........................................................................................................................... 6-3
6-1-2 Block Diagram for Position Control Mode.................................................................................... 6-4
6-2 Cyclic Synchronous Velocity Mode ....................................................................................... 6-5
6-2-1 Related Objects........................................................................................................................... 6-6
6-2-2 Objects Requiring Settings ......................................................................................................... 6-6
6-2-3 Related Functions ....................................................................................................................... 6-6
6-2-4 Block Diagram for Speed Control Mode...................................................................................... 6-7
6-3 Cyclic Synchronous Torque Mode ......................................................................................... 6-8
6-3-1 Related Objects........................................................................................................................... 6-9
6-3-2 Objects Requiring Settings ......................................................................................................... 6-9
6-3-3 Related Functions ....................................................................................................................... 6-9
6-3-4 Block Diagram for Force Control Mode ..................................................................................... 6-10
6-4 Profile Position Mode ............................................................................................................ 6-11
6-4-1 Related Objects......................................................................................................................... 6-12
6-4-2 Description of Function ............................................................................................................. 6-13
6-4-3 Controlword (6040 hex) in Profile Position Mode ...................................................................... 6-14
6-4-4 Statusword (6041 hex) in Profile Position Mode........................................................................ 6-14
6-5 Homing Mode ......................................................................................................................... 6-15
6-6 Connecting with OMRON Controllers .................................................................................. 6-16
Section 7 Applied Functions
7-1 Sequence I/O Signals .............................................................................................................. 7-2
7-1-1 Input Signals ............................................................................................................................... 7-2
7-1-2 Output Signals............................................................................................................................. 7-5
7-2 Positive and Negative Drive Prohibition Functions.............................................................. 7-8
7-3 Overrun Protection ................................................................................................................ 7-11
7-3-1 Operating Conditions ................................................................................................................ 7-11
7-3-2 Objects Requiring Settings ....................................................................................................... 7-11
7-3-3 Operation Example ................................................................................................................... 7-12
7-4 Backlash Compensation ....................................................................................................... 7-13
7-5 Brake Interlock....................................................................................................................... 7-15
7-5-1 Objects Requiring Settings ....................................................................................................... 7-15
7-5-2 Operation Timing....................................................................................................................... 7-16
7-6 Electronic Gear Function ...................................................................................................... 7-20
7-6-1 Objects Requiring Settings ....................................................................................................... 7-20
7-6-2 Operation Example ................................................................................................................... 7-21
7-7 Force Limit Switching ........................................................................................................... 7-22
7-7-1 Operating Conditions ................................................................................................................ 7-22
7-7-2 Objects Requiring Settings ....................................................................................................... 7-23
7-8 Soft Start ................................................................................................................................ 7-25
7-8-1 Objects Requiring Settings ....................................................................................................... 7-25
7-8-2 Soft Start Acceleration or Deceleration Time............................................................................ 7-25
7-8-3 S-curve Acceleration or Deceleration Time............................................................................... 7-26
7-9 Gain Switching Function....................................................................................................... 7-27
7-9-1 Objects Requiring Settings ....................................................................................................... 7-27
7-9-2 Gain Switching Based on the Control Mode ............................................................................. 7-29
7-9-3 Diagrams of Gain Switching Setting.......................................................................................... 7-32
8 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type