Omron R88M-K User Manual page 27

6-4 Profile Position Mode ............................................................................................................ 6-11
6-4-1 Related Objects ........................................................................................................................ 6-12
6-4-2 Description of Function............................................................................................................. 6-13
6-4-3 Controlword (6040 hex) in Profile Position Mode...................................................................... 6-14
6-4-4 Statusword (6041 hex) in Profile Position Mode ....................................................................... 6-14
6-5 Homing Mode ......................................................................................................................... 6-15
6-6 Fully-closed Control .............................................................................................................. 6-16
6-6-1 Outline of Operation.................................................................................................................. 6-16
6-6-2 Objects Requiring Settings ....................................................................................................... 6-17
6-6-3 Block Diagram for Fully-closed Control Mode........................................................................... 6-22
6-7 Connecting with OMRON Controllers .................................................................................. 6-23
Section 7 Applied Functions
7-1 Sequence I/O Signals .............................................................................................................. 7-2
7-1-1 Input Signals ............................................................................................................................... 7-2
7-1-2 Output Signals ............................................................................................................................ 7-5
7-2 Forward and Reverse Drive Prohibition Functions .............................................................. 7-8
7-2-1 Objects Requiring Settings ......................................................................................................... 7-8
7-3 Overrun Protection ................................................................................................................ 7-11
7-3-1 Operating Conditions ................................................................................................................ 7-11
7-3-2 Objects Requiring Settings ....................................................................................................... 7-11
7-3-3 Operation Example ................................................................................................................... 7-12
7-4 Backlash Compensation ....................................................................................................... 7-13
7-4-1 Objects Requiring Settings ....................................................................................................... 7-13
7-5 Brake Interlock....................................................................................................................... 7-15
7-5-1 Objects Requiring Settings ....................................................................................................... 7-15
7-5-2 Operation Timing ...................................................................................................................... 7-16
7-6 Electronic Gear Function ...................................................................................................... 7-21
7-6-1 Objects Requiring Settings ....................................................................................................... 7-21
7-6-2 Operation Example ................................................................................................................... 7-22
7-7 Torque Limit Switching ......................................................................................................... 7-24
7-7-1 Operating Conditions ................................................................................................................ 7-24
7-7-2 Objects Requiring Settings ....................................................................................................... 7-24
7-8 Soft Start ................................................................................................................................ 7-26
7-8-1 Objects Requiring Settings ....................................................................................................... 7-26
7-8-2 Soft Start Acceleration or Deceleration Time ........................................................................... 7-26
7-8-3 S-curve Acceleration or Deceleration Time .............................................................................. 7-27
7-9 Gain Switching Function ...................................................................................................... 7-28
7-9-1 Objects Requiring Settings ....................................................................................................... 7-29
7-9-2 Gain Switching Based on the Control Mode ............................................................................. 7-30
7-9-3 Diagrams of Gain Switching Setting ......................................................................................... 7-35
7-9-4 Position Gain Switching Time (3119 Hex) ................................................................................ 7-37
7-10 Gain Switching 3 Function ................................................................................................... 7-38
7-10-1 Operating Conditions ................................................................................................................ 7-38
7-10-2 Objects Requiring Settings ....................................................................................................... 7-38
7-10-3 Operation Example ................................................................................................................... 7-38
7-11 Touch Probe Function (Latch Function).............................................................................. 7-40
7-11-1 Related Objects ........................................................................................................................ 7-40
7-11-2 Trigger Signal Settings.............................................................................................................. 7-40
7-11-3 Operation Sequences ............................................................................................................... 7-41
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
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