Omron OMNUC G5 Series User Manual page 318

9-7 Special Objects
Observer Function on page 11-32.
Example
Instantaneous speed observer function: enabled
Disturbance observer function: enabled
Disturbance observer operation setting: enabled at all time
Electric current response improvement function: enabled
Command compensation for communications errors for CSP: Disabled
If the settings are as described above, the bit will be 0010011, and the decimal value 19.
Therefore, the set value will be 19.
Electric Current Response Setting
9 3611 hex
Setting
range
Size
Make fine adjustment to electric current response. The default setting is 100%.
Error Detection Allowable Time Setting
3614 hex
Setting
range
Size
Set the allowable time until stopping if an immediate stop is executed when an error is detected.
When the time exceeds the set value, the operation forcibly turns to an error state.
When the object is set to 0, the protection for the allowable time does not function.
Refer to the Immediate Stop Operation on page 12-12 in 12-3 Errors on page 12-7.
Overspeed Detection Level Setting at
3615 hex
Setting
range
Size
If the motor speed exceeds the set value during an immediate stop resulting from an error, an
Overspeed 2 Error (Error No. 26.1) will occur.
9-39
Bit Function
bit 0 Instantaneous speed observer function
bit 1 Disturbance observer function
Disturbance observer operation setting
bit 2
bit 3 Reserved for manufacturer use
Electric current response improvement
bit 4
function
bit 5 Reserved for manufacturer use
Command compensation for
bit 6
communications errors for CSP
Reference
50 to 100 Unit
2 bytes (INT16)
0 to 1,000 Unit
2 bytes (INT16)
0 to 20,000 Unit
2 bytes (INT16)
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
0
Disabled
Disabled
Enabled at all time
Disabled
Disabled
Default
%
setting
Access RW
Default
ms
setting
Access RW
Immediate Stop
Default
r/min
setting
Access RW
Set value
1
Enabled
Enabled
Only when gain 1 is
selected
Fixed to 0.
Enabled
Fixed to 0.
Enabled
All
Data
100 B
attribute
PDO map Not possible.
All
Data
200 B
attribute
PDO map Not possible.
All
Data
0 A
attribute
PDO map Not possible.