Omron R88D-KN series User Manual page 282

9 Servo Parameter Objects
S-curve Acceleration/Deceleration Time Setting
3314 hex
Setting range 0 to 1000
Size 2 bytes (INT16)
• The S-curve acceleration/deceleration function ensures smooth operation in applications where
linear acceleration or deceleration could cause impact due to a large change in the acceleration or
deceleration speed during start, stop, or other operation.
• This is achieved by adding a pseudo-S-curve acceleration/deceleration value to the linear
acceleration/deceleration speed command.
Speed [mm/s]
Target speed
(Vc)
ts
Refer to 7-8 Soft Start on page 7-25.
Speed Limit Selection
3317 hex
Setting range 0 to 1
Size 2 bytes (INT16)
• Select the speed limit.
• The speed limit is used as a protection during force control.
Explanation of Settings
Set value
0 Restrict the speed using the value set on the Speed Limit Value Setting (3321 hex).
1 Restrict the speed using either the speed limit value (VLIM) via EtherCAT communications or the
value set by the Speed Limit Value Setting (3321 hex), whichever is smaller.
Refer to 6-3 Cyclic Synchronous Torque Mode on page 6-8.
Speed Limit Value Setting
3321 hex
Setting range 0 to 20000
Size 2 bytes (INT16)
• Set the speed limit value for force control.
• It controls that the speed during force control does not exceed the set value.
Refer to 6-3 Cyclic Synchronous Torque Mode on page 6-8.
9-24
Unit ms
Access
ts ts
ts
ta td

Unit
Access
Unit mm/s
Access
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Default setting 0
RW PDO map
ta = Vc / Maximum motor speed × 3312 hex × 1 ms
td = Vc / Maximum motor speed × 3313 hex × 1 ms
ts = 3314 hex × 1 ms
Be sure that ts is smaller than the values
obtained by the divisions of
td
ta
and .
2
2
Default setting 1
RW PDO map
Description
Default setting 20000
RW PDO map
csv
Data attribute B
Not possible.
cst
Data attribute B
Not possible.
cst
Data attribute A
Not possible.