Omron OMNUC G5 User Manual page 17

Chapter6 Applied Functions
6-1 Damping Control................................................................................. 6-1
6-2 Adaptive Filter..................................................................................... 6-5
6-3 Notch Filter ......................................................................................... 6-7
6-4 Electronic Gear Function .................................................................... 6-10
6-5 Encoder Dividing Function.................................................................. 6-13
6-6 Brake Interlock.................................................................................... 6-18
6-7 Gain Switching Function..................................................................... 6-23
6-8 Torque Limit........................................................................................ 6-31
6-9 Sequence I/O Signal........................................................................... 6-34
6-10 Forward and Reverse Drive Prohibition Functions ............................. 6-40
6-11 Disturbance Observer Function.......................................................... 6-43
6-12 Gain Switching 3 Function.................................................................. 6-45
6-13 Friction Torque Compensation Function ............................................ 6-46
6-14 Inertia Ratio Switching Function ......................................................... 6-48
6-15 Hybrid Vibration Suppression Function .............................................. 6-49
6-16 Feed-forward Function ....................................................................... 6-50
6-17 Instantaneous Speed Observer Function ........................................... 6-54
Chapter7 Safety Function
7-1 Safe Torque OFF (STO) Function ...................................................... 7-1
7-2 Operation Example............................................................................. 7-4
7-3 Connection Examples......................................................................... 7-6
Chapter8 Parameters Details
8-1 Basic Parameters ............................................................................... 8-1
8-2 Gain Parameters ................................................................................ 8-9
8-3 Vibration Suppression Parameters..................................................... 8-20
8-4 Analog Control Parameters ................................................................ 8-25
8-5 Interface Monitor Setting Parameters................................................. 8-36
8-6 Extended Parameters......................................................................... 8-46
8-7 Special Parameters ............................................................................ 8-59
Chapter9 Operation
9-1 Operational Procedure ....................................................................... 9-1
9-2 Preparing for Operation ...................................................................... 9-2
9-3 Using the Front Display ...................................................................... 9-6
9-4 Setting the Mode ................................................................................ 9-7
9-5 Trial Operation.................................................................................... 9-33
Chapter10 Adjustment Functions
10-1 Gain Adjustment ................................................................................. 10-1
10-2 Realtime Autotuning ........................................................................... 10-3
10-3 Manual Tuning.................................................................................... 10-10
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Table Of Contents
15