Omron R88D-KN series User Manual page 306

9 Servo Parameter Objects
Precautions for Correct Use Precautions for Correct Use
This object must be set in units of bits. Users must be fully aware that proper operation of your
system is not guaranteed, if you have incorrect object settings. Pay a particular attention when
you set them.
Additional Information
Procedure to Set the Object Bit by Bit
Follow these steps and calculate the set values, when you make any setting other than 0.
(1) Confirm the least significant bit (LSB) in each set value.
E.g. LSB of force compensation function: 4
(2) Multiply the set value by 2 to the power of the bit number of the LSB.
E.g. To set the force compensation to Friction compensation (small): The set value is 3.
The exponent is 4.
(3) Repeat Step (1) and (2) for all bit settings. Add all results and set the outcome to 3632
hex.
E.g. When all of the Load characteristic estimation, the mass ratio updating, the Rigidity
setting, and the Gain switch setting are enabled, the Force compensation is set to
Friction compensation (small), and the Fixed object setting is set to a Fixed value:
Refer to 11-3 Realtime Autotuning on page 11-7 for details of realtime autotuning settings.
Vibration Detection Threshold
3637 hex
Setting range 0 to 1000
Size 2 bytes (INT16)
• Set the vibration detection threshold.
• If force vibration that exceeds this setting is detected, a vibration detection warning occurs.
• Set the value in units of 0.1% of the rated voltage (100%).
Refer to 12-2 Warnings on page 12-4.
9-48
4  3 = 48
2
0  1  2 2  1  2 4  3  2
2
Unit 0.1%
Access
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
7  1  2 8  1  2 9  2 = 1461
Default setting 0
RW PDO map
All
Data attribute B
Not possible.