Omron OMNUC R88D-WT15HF User Manual page 115

Standard Models and Specifications
Control mode
setting i
Pn000.1 = 3 ---
Internally set
speed control
Pn000.1 = 4 TVSEL: OFF
Internally set y
speed control
Pn50A.0 = 0
↔ Speed
(See note 2.)
control control
TVSEL: ON
Pn000.1 = 5
TVSEL: OFF
Internally set y
speed control
Pn50A.0 = 0
↔ Position
(See note 2.)
control control
TVSEL: ON
Pn000.1 = 6 TVSEL: OFF
Internally set y
speed control
Pn50A.0 = 0
↔ Torque
(See note 2.)
control control
TVSEL: ON
Pn000.1 = 7
TVSEL: OFF
Position control
Position control
↔ Speed
TVSEL: ON
control
Pn000.1 = 8
TVSEL: OFF
Position control Position control
↔ Torque
TVSEL: ON
control
Pn000.1 = 9 TVSEL: OFF
Torque control Torque control
↔ Speed
TVSEL: ON
control
Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by
setting Pn50A.0 (input signal selection mode) to 1. The TVSEL signal is allocated by
Pn50C.3.
Note 2. The allocation of the TVSEL signal and the control mode when there is no input will change
when Pn50A is at the default setting (0) and Pn000.1 is set to 4, 5, or 6. (See above table.)
Note 3. With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR,
or IPG according to the Pn000.1 (control mode selection) setting and the control mode in op-
eration. For details, refer to 4-4-3 Important Parameters.
D Position Lock Command Input (41: PLOCK)
If position control is executed without including a position loop, there may be some position deviation
due to temperature drift from a device such as the A/D converter. If a position lock command is input in
such a case, then, when the Servomotor rotation speed falls below the rotation speed set in Pn501
(position lock rotation speed), the speed control mode will be changed to position control mode and the
Servomotor will be position-locked and completely stopped.
Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by
setting Pn50A.0 (input signal selection mode) to 1. The PLOCK signal is allocated by
Pn50d.0.
2-84
TVSEL
SPD2: OFF
Stop by speed
loop.
Stop by speed
loop.
Stop by speed
loop.
Stop by speed
loop.
Position control
Speed control
Position control
Torque control
Torque control
Speed control
SPD1: OFF
SPD2: ON
No. 1 internal
speed setting
(Pn301)
No. 1 internal
speed setting p g
(Pn301)
Speed control
No. 1 internal
speed setting p g
(Pn301)
Position control
No. 1 internal
speed setting p g
(Pn301)
Torque control
Chapter 2
SPD1: ON
SPD2: OFF SPD2: ON
No. 3 internal No. 2 internal
speed setting speed setting
(Pn303) (Pn302)
No. 3 internal No. 2 internal
speed setting p g speed setting p
(Pn303) (Pn302)
No. 3 internal No. 2 internal
speed setting p g speed setting p
(Pn303) (Pn302)
No. 3 internal No. 2 internal
speed setting p g speed setting p
(Pn303) (Pn302)
g
g
g