Parameter Settings And Functions - Omron XTRADRIVE User Manual

XtraDrive User Manual

5. Parameter Settings and Functions

5.1. Settings According to Device Characteristics.............................................5-4
5.1.1. Switching Servomotor Rotation Direction..........................................5-4
5.1.2. Setting the Overtravel Limit Function ................................................5-5
5.1.3. Limiting Torque ..................................................................................5-8
5.2. Settings According to Host Controller......................................................5-12
5.2.1. Speed Reference................................................................................5-12
5.2.2. Position Reference ............................................................................5-14
5.2.3. Using the Encoder Signal Output .....................................................5-20
5.2.4. Sequence I/O Signals ........................................................................5-23
5.2.5. Using the Electronic Gear Function..................................................5-24
5.2.6. Contact Input Speed Control.............................................................5-29
5.2.7. Using Torque Control .......................................................................5-34
5.2.8. Torque Feed-Forward Function ........................................................5-40
5.2.9. Torque Limiting by Analog Voltage Reference ...............................5-42
5.2.10. Reference Pulse Inhibit Function (/INHIBIT) ..................................5-44
5.3. Setting Up the Servo Amplifier ................................................................5-45
5.3.1. Parameters.........................................................................................5-45
5.3.2. JOG Speed ........................................................................................5-46
5.3.3. Input Circuit Signal Allocation .........................................................5-46
5.3.4. Output Circuit Signal Allocation ......................................................5-50
5.3.5. Control Mode Selection ....................................................................5-52
5.4. Setting Stop Functions ..............................................................................5-54
5.4.1. Adjusting Offset................................................................................5-54
5.4.2. Servo OFF Stop Mode Selection ......................................................5-55
5.4.3. Using the Zero Clamp Function........................................................5-56
5.4.4. Using the Holding Brake ..................................................................5-58
5.5. Forming a Protective Sequence ................................................................5-61
5.5.1. Using Servo Alarm and Alarm Code Outputs ..................................5-61
5.5.2. Using the Servo ON Input Signal (/S-ON) .......................................5-63
5.5.3. Using the Positioning Completed Output Signal (/COIN) ...............5-64
5.5.4. Speed Coincidence Output (/V-CMP) ..............................................5-65
5.5.5. Using the Running Output Signal (/TGON) .....................................5-67
5.5.6. Using the Servo Ready Output Signal (/S-RDY) .............................5-68
5.5.7. Using the Warning Output Signal (/WARN)....................................5-69
5.5.8. Handling Power Loss ........................................................................5-71
5.6. Selecting a Regenerative Resistor.............................................................5-72
5.6.1. External Regenerative Resistor.........................................................5-73
5.6.2. Calculating the Regenerative Power Capacity..................................5-74
5.7. Absolute Encoders ....................................................................................5-78
5.7.1. Interface Circuit ................................................................................5-79
5.7.2. Configuring an Absolute Encoder ....................................................5-80
5.7.3. Absolute Encoder Setup....................................................................5-81
5.7.4. Absolute Encoder Reception Sequence ............................................5-84
5.8. AB Encoders .............................................................................................5-89
5.9. Configuration of Serial Commands for AB Encoders ..............................5-91
5.9.1. Position Control ................................................................................5-91
5.9.1.1. Defining User Units for Motion Profiles ......................................5-91
Chapter 5: Parameter Settings and Functions
5-1