Omron OMNUC G User Manual page 19

Chapter 5 Operating Functions
5-1 Position Control................................................................................ 5-1
5-2 Speed Control .................................................................................. 5-4
5-3 Torque Control ................................................................................. 5-7
5-4 Forward and Reverse Drive Prohibit ................................................ 5-10
5-5 Brake Interlock ................................................................................. 5-11
5-6 Torque Limit ..................................................................................... 5-16
5-7 Soft Start .......................................................................................... 5-18
5-8 Acceleration/Deceleration Time Settings ......................................... 5-19
5-9 Moving Average Time ...................................................................... 5-20
5-10 Electronic Gear ................................................................................ 5-21
5-11 Speed Limit ...................................................................................... 5-22
5-12 Sequence Input Signals ................................................................... 5-23
5-13 Sequence Output Signals ................................................................ 5-25
5-14 Backlash Compensation .................................................................. 5-27
5-15 Overrun Protection ........................................................................... 5-29
5-16 Gain Switching ................................................................................. 5-31
5-17 Speed Feed-forward ........................................................................ 5-38
5-18 Torque Feed-forward ....................................................................... 5-39
5-19 Speed Feedback Filter Selection ..................................................... 5-40
5-20 P Control Switching .......................................................................... 5-41
5-21 Torque Command Filter Time Constant ........................................... 5-42
5-22 Notch Filter ....................................................................................... 5-43
5-23 Adaptive Filter .................................................................................. 5-45
5-24 Instantaneous Speed Observer ....................................................... 5-48
5-25 Damping Control .............................................................................. 5-50
5-26 User Parameters .............................................................................. 5-55
5-27 Details on Important Parameters ..................................................... 5-86
Chapter 6 Operation
6-1 Operational Procedure ..................................................................... 6-1
6-2 Preparing for Operation.................................................................... 6-2
6-3 Using the Parameter Unit ................................................................. 6-8
6-4 Setting the Mode .............................................................................. 6-9
6-5 Trial Operation ................................................................................. 6-31
Chapter 7 Adjustment Functions
7-1 Gain Adjustment............................................................................... 7-1
7-2 Realtime Autotuning ......................................................................... 7-3
7-3 Normal Mode Autotuning ................................................................. 7-9
7-4 Manual Tuning ................................................................................. 7-14
Table of Contents
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