Omron OMNUC R88D-WT15HF User Manual page 296

Operation
H Reverse Rotation Mode Settings (Pn000.0)
Pn000.0 Function selection basic switch –– Reverse rotation mode (All operation modes)
Setting 0, 1
range
Setting Explanation
Setting
0 CCW direction is taken for positive command (counterclockwise seen from the
Servomotor output shaft)
1 CW direction is taken for positive command (clockwise seen from the Servomotor output
shaft)
• This parameter sets the Servomotor's direction of rotation.
• Even if 1 is set, the Servo Driver's encoder output phase (A/B phase) does not change (i.e., the Servo-
motor's direction of rotation is simply reversed).
• For example, with a pulse command, the motor will rotate counterclockwi
command if the Reverse Rotation Mode Setting is set to 0 and will rotate
command if the Reverse Rotation Mode Setting is set to 1.
H Control Mode Selection (Pn000.1)
Pn000.1 Function selection basic switch –– Control mode selection (All operation modes)
Setting 0 to b
range
Setting Explanation
Setting
0 Speed control (Analog command)
1 Position control (Pulse train command)
2 Torque control (Analog command)
3 Internal speed control settings
4 Internal speed control settings ←→ Speed control (Analog command)
5 Internal speed control settings ←→ Position control (Pulse train command)
6 Internal speed control settings ←→ Torque control (Analog command)
7 Position control (Pulse train command) ←→ Speed control (Analog command)
8 Position control (Pulse train command) ←→ Torque control (Analog command)
9 Speed control (Analog command) ←→ Torque control (Analog command)
A Speed control with position-lock function (Analog command)
b Position control with pulse disable function (Pulse train command)
• Set to match the application content and the output form of the Host controller you are using.
• If using switching control mode (7 to 9), switch the control mode using TVSEL (control mode switch
input).
• If using internal speed control setting and another control mode (4 to 6), switch control mode using
SPD1 and SPD2 (speed selection command inputs 1 and 2).
Unit ---
Unit ---
Default 0
setting
Explanation
clockwi
Default 1
setting
Explanation
Chapter 4
Restart Yes
power?
counterclockwi
se for a
counterclockwi
se for a
Restart Yes
power?
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se