Omron OMNUC G5 R88M-K series User Manual page 18

Table Of Contents
Chapter5 BASIC CONTROL Mode
5-1 Position Control ..................................................................................... 5-1
Parameters Requiring Settings.................................................................................... 5-1
Related Functions........................................................................................................ 5-2
Parameter Block Diagram for POSITION CONTROL mode ....................................... 5-3
5-2 Speed Control........................................................................................ 5-4
Parameters Requiring Settings.................................................................................... 5-4
Related Functions........................................................................................................ 5-4
Parameter Block Diagram for SPEED CONTROL mode ............................................ 5-5
5-3 Torque Control....................................................................................... 5-6
Parameters Requiring Settings.................................................................................... 5-6
Related Functions........................................................................................................ 5-7
Parameter Block Diagram for TORQUE CONTROL mode ......................................... 5-8
5-4 Full Closing Control ............................................................................... 5-9
Outline of Operation .................................................................................................... 5-9
Parameters Requiring Settings.................................................................................. 5-10
Parameter Block Diagram for FULL CLOSING CONTROL mode............................. 5-16
Chapter6 Applied Functions
6-1 Sequence I/O Signal.............................................................................. 6-1
Input Signals................................................................................................................ 6-1
Output Signals ............................................................................................................. 6-4
6-2 Forward and Reverse Drive Prohibition Functions ................................ 6-6
Parameters Requiring Settings.................................................................................... 6-6
6-3 Overrun Protection................................................................................. 6-9
Operating Conditions................................................................................................... 6-9
Parameters Requiring Settings.................................................................................... 6-9
Operation Example.................................................................................................... 6-10
6-4 Backlash Compensation ...................................................................... 6-11
Parameters Requiring Settings.................................................................................. 6-11
6-5 Brake Interlock..................................................................................... 6-13
Parameters Requiring Settings.................................................................................. 6-13
Operating Example.................................................................................................... 6-14
6-6 Electronic Gear Function ..................................................................... 6-18
Parameters Requiring Settings.................................................................................. 6-18
Operation Example.................................................................................................... 6-20
6-7 Torque Limit Switching ........................................................................ 6-21
Operating Conditions................................................................................................. 6-21
Parameters Requiring Settings.................................................................................. 6-21
6-8 Soft Start.............................................................................................. 6-23
Parameters Requiring Settings.................................................................................. 6-23
Soft Start Acceleration or Deceleration Time ............................................................ 6-23
S-curve Acceleration or Deceleration Time ............................................................... 6-24
6-9 Gain Switching Function ...................................................................... 6-25
Parameters Requiring Settings.................................................................................. 6-26
Gain Switching Setting for Each CONTROL mode ................................................... 6-27
Timing by Gain Switching Setting .............................................................................. 6-32
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)