Omron R88D-GT series User Manual page 340

5-16 User Parameters
Pn02
Setting range
Explanation of Settings
5
• Use this parameter to set the control mode.
• If composite modes are set (settings 3 to 5), Mode 1 or Mode 2 can be selected using the Control
Mode Switch Input (TVSEL).
• Open the Control Mode Switch Input to select Mode 1.
• Close the Control Mode Switch Input to select Mode 2.
• Do not input a command within 10 ms before or after switching.
Pn03
Setting range
Explanation of Settings
• Use this parameter to set the torque limit method for forward and reverse operation.
• If this parameter is set to 0, the torque limit input for forward and reverse operation will be limited
by the No.1 Torque Limit (Pn5E).
• When using torque control, the No.1 Torque Limit (Pn5E) will be the limit value for forward and
reverse operation regardless of the setting of this parameter.
5-53
Control Mode Selection
0 to 6 Unit
Setting
0 Position Control Mode (pulse-string command)
1 Speed Control Mode (analog command)
2 Torque Control Mode (analog command)
3 Mode 1: Position Control Mode, Mode 2: Speed Control Mode
4 Mode 1: Position Control Mode, Mode 2: Torque Control Mode
5 Mode 1: Speed Control Mode, Mode 2: Torque Control Mode
6 Reserved
Control Mode
Open
Switch Input
Mode 1
10 ms min.
Torque Limit Selection
0 to 3 Unit
Setting
Use PCL (CN1 pin 16) as the limit value for forward operation and NCL (CN1 pin 18) as
0
the limit value for reverse operation.
1 Use Pn5E as the limit value for forward and reverse operation.
Use Pn5E as the limit value for forward operation and Pn5F as the limit value for reverse
2
operation.
Use Pn5E as the value when the GSEL/TLSEL input is open and use Pn5F as the value
3
when the GSEL/TLSEL input is closed.
--- Default setting
Explanation
Closed
Open
Mode 2 Mode 1
10 ms min.
--- Default setting
Explanation
All modes
0 Yes
Power OFF→ON
Position Speed
1 ---
Power OFF→ON