Omron XTRADRIVE User Manual page 8

XtraDrive User Manual
5. Parameter Settings and Functions ..................................................................5-1
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....................................................... 5-25
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
5.9.1.2. Position Units.......................................................................................... 5-91
5.9.1.3. Speed Units ............................................................................................. 5-92
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Table of Contents/Preface