Omron OMNUC R88D-WT15HF User Manual page 343

Operation
Note 1. There is a maximum delay of 2 ms in reading the input signal.
Note 2. If the position lock function is not used, the servo will stop using the speed loop (i.e., internal
speed command 0 r/min.)
Note 3. Speed command input, pulse train input, and torque command input are ignored.
D Internally-set Speed Control + Speed Control (Pn000.1 = 4)
Speed selection
command 1
SPD1
Speed selection
command 2
SPD2
Rotation direction
command
RDIR
Speed command
input
REF
Servomotor op-
eration
Note Operation follows the speed command input (REF) immediately after SPD1 and SPD2 are both
OFF (although there is a delay of up to 2 ms in reading the input signal).
D Internally-set Speed Control + Position Control (Pn000.1 = 5)
Speed selection
command 1
SPD1
Speed selection
command 2
SPD2
Rotation direction
command
RDIR
Pulse command
Positioning com-
pleted, INP1
(Speed compare,
VCMP)
Servomotor op-
eration
Note 1. When SPD1 and SPD2 are turned OFF, the Servomotor will decelerate to a stop, INP1 (posi-
tion completed output 1) will be output, and the servo will be position-locked. Pulse train com-
4-80
Speed 3
Speed 2
Speed 1
Speed 3
Speed 2
Speed 1
REF speed
Speed Control Mode
2 ms min.
Chapter 4
Speed 1
(reverse
rotation)
2 ms min.
Speed 1 (reverse
rotation)