Omron R88D-KN01L-ECT-L User Manual page 302

Ac servomotors/servo drives g5-series with built-in ethercat communications linear motor type r88l-ec series; r88d-kn*-ect-l series
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9 Servo Parameter Objects
S-curve Acceleration/Deceleration Time Setting
3314 hex
Setting
0 to 1,000
range
Size
2 bytes (INT16)
• The S-curve acceleration/deceleration function ensures smooth operation in applications where
linear acceleration or deceleration could cause impact due to a large change in the acceleration or
deceleration speed during start, stop, or other operation.
• This is achieved by adding a pseudo-S-curve acceleration/deceleration value to the linear
acceleration/deceleration speed command.
Speed [mm/s]
Target
speed
[Vc]
For details, refer to 7-8 Soft Start on page 7-24.
Speed Limit Selection
3317 hex
Setting
0 to 1
range
Size
2 bytes (INT16)
• Select the speed limit.
• Restricts the speed as the protection during force control.
Explanation of Settings
Set
value
0
Select the value set on the Speed Limit Value Setting (3321 hex).
1
Select either the speed limit value (VLIM) via EtherCAT communications or the
value set by the Speed Limit Value Setting (3321 hex), whichever is smaller.
For details, refer to 6-3 Cyclic Synchronous Torque Mode on page 6-8.
Speed Limit Value Setting
3321 hex
Setting
0 to 20,000
range
Size
2 bytes (INT16)
• Set the speed limit value for force control.
• It controls that the speed during force control does not exceed the set value.
For details, refer to 6-3 Cyclic Synchronous Torque Mode on page 6-8.
9 - 26
Unit
Access
ts
ts
ts
ta
td
Unit
Access
Description
Unit
Access
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
ms
Default
setting
RW
ta = Vc/Maximum motor speed × 3312 hex × 1 ms
td = Vc/Maximum motor speed × 3313 hex × 1 ms
ts = 3314 hex × 1 ms
ts
Be sure that ts is smaller than the values
obtained by the divisions of
ta
td
and
2
2
Default
setting
RW
mm/s
Default
setting
RW
0
Data
attribute
PDO map
Not possible
.
1
Data
attribute
PDO map
Not possible
20,000
Data
attribute
PDO map
Not possible
csv
B
cst
B
cst
B

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