Omron R88M-K User Manual page 452

9 Details on Servo Parameter Objects
+Function Expansion Setting
3610 hex
Setting range 0 to 127
Size 2 bytes (INT16)
• Set the functions by bit.
• Set the decimal value that has been converted from the bits.
• In the default settings, only the command compensation for communications errors for CSP is
enabled. The number 64 decimal is 1000 000 when represented as bits.
• Refer to 11-8 Disturbance Observer Function on page 11-26 and 11-12 Instantaneous Speed
Observer Function on page 11-34.
Bit
bit 0 Instantaneous speed observer function
bit 1 Disturbance observer function
bit 2 Disturbance observer operation setting
bit 3 Reserved for manufacturer use
bit 4 Electric current response improvement
function
bit 5 Reserved for manufacturer use
bit 6 Command compensation for
communications errors for CSP
• If the command compensation for communications errors for CSP is enabled and a communications
error occurs, the Servo Drive will compensate and control the internal command based on the value
of the Target position (607A hex) that was most recently received normally.
Command
position
Command
0
speed
Solid line: Command compensation enabled.
Dashed line: Command compensation disabled.
: Normal communications
×: Communications error
9-48
Unit
Access
Function
Communications cycle
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
−
Default setting
RW
0
Disabled
Disabled
Enabled at all time
Disabled
Disabled
64 Data attribute
PDO map Not possible.
Set value
1
Enabled
Enabled
Only when gain 1 is
selected
Fixed to 0.
Enabled
Fixed to 0.
Enabled
All
B