Omron R88M-K User Manual page 351

Hybrid Error Setting (3328 Hex, 3329 Hex)
The difference between the encoder position and external encoder position is detected, and if the
difference exceeds the value of Hybrid Following Error Counter Overflow Level (3328 hex), an error
occurs.
Index
3328 hex Hybrid
Following Error
Counter
Overflow Level
3329 hex Hybrid
Following Error
Counter Reset
3329 Hex: Hybrid Following Error Counter Reset
The hybrid error is cleared every time the motor rotates by the amount set in object 3329 hex.
This function can be used when there is error between the position calculated from encoder pulses
and the position calculated from external encoder because hybrid error accumulated due to slipping
or other factors.
Amount of hybrid error
[Command units]
3328 hex: Hybrid Following Error Counter Overflow Level
3329 hex
Hybrid Following Error
Counter Reset
Precautions for Correct Use Precautions for Correct Use
• The machine may run out of control and be damaged if the external encoder breaks down or
the motor or load coupling becomes disconnected. To prevent this from happening, set the
Hybrid Following Error Counter Overflow Level (3328 hex) and Hybrid Following Error Counter
Reset (3329 hex).
• If the Hybrid Following Error Counter Overflow Level (3328 hex) is set too high, detection is
delayed and error detection will be ineffective. If an extremely small value is set, the amount of
motor or machine torsion during normal operation may be detected as an error. Be sure to set
an appropriate value.
• Take sufficient safety measures, such as installing limit sensors.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Name
Set the allowable difference (hybrid error)
between the encoder-detected position and
external encoder-detected position in command
units.
The hybrid error becomes 0 every time the
motor rotates by the set value. If the set value is
0, the hybrid error is not cleared.
Cleared to 0.
3329 hex
Hybrid Following Error
Counter Reset
6 Basic Control Functions
Description
Error detected
Cleared to 0.
3329 hex
Hybrid Following
Error Counter Reset
Setting range Unit
27 Command
1 to 2
units
0 to 100 Rotations
Number of motor
rotations
[rotations]
6-21
6