Omron R88D-KN01L-ECT-L User Manual page 324

9 Servo Parameter Objects
Negative Direction Force Offset
3609 hex
Setting –100 to 100
range
Size 2 bytes (INT16)
• Set the value to be added to a force command during negative movement in the Position Control
Mode.
• Set the value in units of 1% of the rated force (100%).
For details, refer to 11-9 Friction Force Compensation Function on page 11-30.
Function Expansion Setting
3610 hex
Setting 0 to 511
range
Size 2 bytes (INT16)
• Set the functions by bit.
• Set the decimal value that has been converted from the bits.
• In the default settings, only the command compensation for communications errors for CSP is
enabled. The number 64 decimal is 1,000,000 when represented as bits.
Explanation of Settings
Bit
bit 0 Instantaneous speed observer
function
bit 1 Disturbance observer function
bit 2 Disturbance observer operation
setting
bit 3 Reserved
bit 4 Electric current response
improvement function
bit 5 Reserved
bit 6 Command compensation for
communications errors for CSP
bit 7 INP output
limit
bit 8 Reserved
9 - 48
%
Unit
Access
–
Unit
Access
Function
Positioning Output based on the
completion presence/absence of a position
signal (INP1) error or command, regardless
of the completion status of
magnetic pole position
estimationn.
Positioning Output based on the position
completion error, regardless of the
signal (INP2) completion status of magnetic
pole position estimation.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Default
setting
RW PDO map
Default
setting
RW PDO map
Set value
0
Disabled
Disabled
Enabled at all time
Fixed to 0.
Disabled
Fixed to 0.
Disabled
When the Magnetic Pole
Detection Method (3920 hex) is
set to 2, both the positioning
completion signal 1 (INP1) and
the positioning completion
signal 2 (INP2) will be forced to
OFF unless magnetic pole
position estimation is
completed.
Fixed to 0.
A l l
0 Data
attribute
Not possible
A l l
64 Data
attribute
Not possible
1
Enabled
Enabled
Only when Gain 1 is selected
Enabled
Enabled
B
B