Omron R88L-EC Series User Manual page 11

7-3 Overrun Protection................................................................................................................ 7-11
7-3-1 Operating Conditions ................................................................................................................ 7-11
7-3-2 Objects Requiring Settings ....................................................................................................... 7-11
7-3-3 Operation Example ................................................................................................................... 7-12
7-4 Backlash Compensation....................................................................................................... 7-13
7-5 Brake Interlock....................................................................................................................... 7-15
7-5-1 Objects Requiring Settings ....................................................................................................... 7-15
7-5-2 Operation Timing ...................................................................................................................... 7-16
7-6 Electronic Gear Function...................................................................................................... 7-20
7-6-1 Objects Requiring Settings ....................................................................................................... 7-20
7-6-2 Operation Example ................................................................................................................... 7-21
7-7 Force Limit Switching ........................................................................................................... 7-22
7-7-1 Operating Conditions ................................................................................................................ 7-22
7-7-2 Objects Requiring Settings ....................................................................................................... 7-22
7-8 Soft Start ................................................................................................................................ 7-24
7-8-1 Objects Requiring Settings ....................................................................................................... 7-24
7-8-2 Soft Start Acceleration or Deceleration Time............................................................................ 7-24
7-8-3 S-curve Acceleration or Deceleration Time .............................................................................. 7-25
7-9 Gain Switching Function ...................................................................................................... 7-26
7-9-1 Objects Requiring Settings ....................................................................................................... 7-26
7-9-2 Gain Switching Based on the Control Mode ............................................................................. 7-28
7-9-3 Diagrams of Gain Switching Setting ......................................................................................... 7-31
7-9-4 Position Gain Switching Time (3119 hex)................................................................................. 7-36
7-10 Gain Switching 3 Function ................................................................................................... 7-37
7-10-1 Operating Conditions ................................................................................................................ 7-37
7-10-2 Objects Requiring Settings ....................................................................................................... 7-37
7-10-3 Operation Example ................................................................................................................... 7-37
7-11 Touch Probe Function (Latch Function) ............................................................................. 7-39
7-11-1 Objects Requiring Settings ....................................................................................................... 7-39
7-11-2 Trigger Signal Settings ............................................................................................................. 7-39
7-11-3 Operation Sequences ............................................................................................................... 7-40
Section 8 Safety Function
8-1 Safe Torque OFF Function ..................................................................................................... 8-2
8-1-1 Safety Input Signals.................................................................................................................... 8-3
8-1-2 External Device Monitor (EDM) Output Signal ........................................................................... 8-4
8-1-3 Relationship Between Safety Input Signals and EDM Output Signal ......................................... 8-4
8-2 Operation Example.................................................................................................................. 8-5
8-3 Connection Example ............................................................................................................... 8-7
Section 9 Servo Parameter Objects
9-1 Basic Settings.......................................................................................................................... 9-2
9-2 Gain Settings ........................................................................................................................... 9-7
9-3 Vibration Suppression Settings ........................................................................................... 9-18
9-4 Analog Control Objects ........................................................................................................ 9-25
9-5 Interface Monitor Settings .................................................................................................... 9-30
9-6 Extended Objects .................................................................................................................. 9-41
9-7 Special Objects...................................................................................................................... 9-47
9-8 Linear Motor Objects............................................................................................................. 9-61
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
CONTENTS
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