Omron R88M-K User Manual page 456

9 Details on Servo Parameter Objects
Precautions for Safe 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 Torque 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 torque 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 Inertia ratio updating, the
Rigidity setting, and the Gain switch setting are enabled, the Torque compensation is
set to Friction compensation (small), and the Fixed object setting is set to a Fixed value:
Hybrid Vibration Suppression Gain
3634 hex
Setting range 0 to 30000
Size 2 bytes (INT16)
• Set the hybrid vibration suppression gain during fully-closed control.
• In general, set it to the same value as the position loop gain, and finely adjust it based on the
situation.
• Refer to 11-10 Hybrid Vibration Suppression Function on page 11-30.
Hybrid Vibration Suppression Filter
3635 hex
Setting range 0 to 6400
Size 2 bytes (INT16)
• Set the hybrid vibration suppression filter.
• Refer to 11-10 Hybrid Vibration Suppression Function on page 11-30.
Vibration Detection Threshold
3637 hex
Setting range 0 to 1000
Size 2 bytes (INT16)
• Set the vibration detection threshold.
• If torque vibration that exceeds this setting is detected, a vibration detection warning occurs.
• Refer to 12-2 Warnings on page 12-5.
• Set the value in units of 0.1% of the rated torque (100%).
9-52
4
× 3 = 48
2
0 2 4
× 1 + 2 × 1 + 2 × 3 + 2
2
Unit 0.1/s
Access
Unit 0.01 ms
Access
Unit 0.1%
Access
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
7 8 9
× 1 + 2 × 1 + 2 × 2 = 1461
csp (semi) pp (semi) hm (semi)
Default setting 0
RW PDO map
csp (semi) pp (semi) hm (semi)
Default setting 10
RW PDO map
Default setting 0
RW PDO map
Data attribute B
Not possible.
Data attribute B
Not possible.
All
Data attribute B
Not possible.