3B71 Hex: Runaway Detection - Omron R88M-1M Series User Manual

9-7-14 3B71 hex: Runaway Detection

Sets the runaway detection function.
This object is available for the unit version 1.1 or later.
Sub-
Index
index Object name
(hex)
(hex)
3B71 --- Runaway Detec-
tion
00 Number of
entries
01 Enable
Subindex 01 hex: Enable
• Selects whether to enable or disable the runaway detection function.
 Description of Set Values
Set value
0
1
• The default value is 1 (enabled).
• When the runaway detection function detects that the Servomotor rotates in the opposite direction
due to incorrect wiring of the motor cable, etc., a Runaway Detected (Error No. 20.00) occurs.
• When the command torque and the motor speed exceed a certain value after Servo ON, this func-
tion detects whether it is normal operation or an error. When the acceleration direction of the Ser-
vomotor does not conform to the direction of the command torque for a certain period of time, this
function determines that the Servomotor rotates in the opposite direction, a Runaway Detected
occurs.
Command torque
Detection range
Detection range
Precautions for Correct Use
• If the gain is lower than the default setting, the runaway detection function may not work.
• If 1st Torque Command Filter -
Filter - Cutoff Frequency (3234-02 hex) is set to 10 [Hz] or lower, this function may not
work.
• When the Servomotor has a near-no load such that the inertia ratio is 50% or lower, if 1st
Velocity Control Gain - Proportional Gain (3323-01 hex) or
Proportional Gain (3324-01 hex) is set to a value higher than 400 [Hz], this function may not
work.
• If the Servomotor rotates in the opposite direction by an external force over the momentary
maximum torque of the Servomotor.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- --- ---
--- --- 01 hex
0 to 1 --- 1
Disabled
Enabled
Cutoff Frequency
9 Details on Servo Parameters
Data
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
R 4 bytes RW
(INT32)
Description
Motor speed
Detection range
Detection range
(3233-02 hex) or 2nd Torque Command
2nd Velocity Control Gain
Modes of
PDO Complete
opera-
map access
tion
--- Possible ---
--- --- ---
--- --- ---
Nomal operation
Error
-
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