Omron R88M-K User Manual page 407

Explanation of Set Values
Set value
0 A forward direction command sets the motor rotation direction to clockwise.
1 A forward direction command sets the motor rotation direction to counterclockwise.
• The motor rotation direction when viewing the shaft from the load side is called clockwise (CW) or
counterclockwise (CCW).
Control Mode Selection
3001 hex
Setting range 0 to 6
Size 2 bytes (INT16)
• Set the control mode to be used.
Explanation of Set Values
Set value
0 to 5
Semi-closed control
6 Fully-closed control
*1 Set any value between 0 and 5 for semi-closed control.
Realtime Autotuning Mode Selection
3002 hex
Setting range 0 to 6
Size 2 bytes (INT16)
• Set the operating mode for realtime autotuning.
• Refer to 11-3 Realtime Autotuning on page 11-7.
Explanation of Set Values
Set value Realtime autotuning
0 Disabled
1 Focus on stability
(default setting)
2 Focus on position
control
3 Vertical axis
4 Friction
compensation and
vertical axis
5 Load characteristic
estimation
6 Customization
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Description
−
Unit Default setting
Access
Description
*1
−
Unit Default setting
Access
Realtime autotuning is disabled.
No unbalanced load, friction compensation, or gain switching.
Used for a horizontal axis or other axes that have no unbalanced load, or
for a ball screw drive with little friction.
Used when an unbalanced load is present, such as a vertical axis.
Used when friction is large (unbalanced load also calculated).
Used for a belt-driving shaft with large friction. Variations in finalizing the
positioning are suppressed.
Used only for estimating load characteristics.
This mode is used for customizing the realtime autotuning function by
using the Realtime Autotuning Customization Mode Setting (3632 hex).
9 Details on Servo Parameter Objects
0
RW PDO map
1
RW PDO map
Description
All
Data attribute R
Not possible.
All
Data attribute B
Not possible.
9-3
9