Omron R88D-GT series User Manual page 373

Pn60 Positioning Completion Range
Setting range 0 to 32767
• Use this parameter in combination with the Positioning Completion Condition Setting (Pn63) to set
the timing to output the Positioning Completed Output (INP: CN1 pin 39). The Positioning
Completed Output (INP) will turn ON when command pulse input is completed, the Servomotor
(workpiece) movement stops, and the number of the accumulated pulses in the deviation counter
is less than the setting of this parameter.
• For position control, set the number of encoder pulses.
• The basic unit for accumulated pulses is the encoder resolution. The encoder resolutions are as
follows:
• 17-bit encoder: 2
• 2,500-pulse/revolution encoder: 4
• If this parameter is set to a very small value, the time required for the INP signal to turn ON will
increase and the output may chatter. The setting of the Positioning Completion Range does not
affect the precision of the final position.
Accumulated pulses
Pn61
Zero Speed Detection
Setting range 10 to 20000
• Use this parameter to s
or speed coincidence output from the general-purpose output (OUTM1: CN1 pin 12 or OUTM2: CN1 pin
40).
• If a speed detection output is assigned, an output will be made when the speed of the motor is
lower than the value set for this parameter.
• If a speed coincidence output is assigned, an output will be made when difference between the
speed command and the speed of the motor is lower than the value set for this parameter.
• The setting of this parameter is valid for both forward and reverse operation regardless of the
Servomotor rotation direction. This setting has a hysteresis of 10 r/min.
(Pn61 + 10) r/min
OUTM1
Unit Pulse
17
= 131,072
× 2500 = 10000
ON
INP
Unit r/min
et the rotation speed threshold at which to output a zero speed detection output
Forward
Speed
(Pn61 − 10) r/min
Reverse
ON
5-16 User Parameters
Default setting 25
Power OFF→ON
Pn60
Pn60
Default setting 20
Power OFF→ON
Position
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5
All modes
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