Omron 3G3M1-A4110-ECT - Page 11

6-9 Multi-function Input .............................................................................................................6-45
6-9-1 Multifunction Input Selection
.....................................................................................................6-45
6-10 Multi-function output ...........................................................................................................6-60
6-10-1 Multifunction Output Selection ..................................................................................................6-60
6-11 Torque Boost Function Settings ........................................................................................6-65
6-11-1 Torque boost .............................................................................................................................6-65
6-12 Measures Against Overvoltage ..........................................................................................6-67
6-12-1 Regenerative Braking Function.................................................................................................6-67
6-12-2 Braking Resistor Electronic Thermal Function ..........................................................................6-67
Section 7 Vector Control and Applied Functions
7-1 Details of Motor Control Methods ........................................................................................7-3
7-1-1 Motor Control Methods
................................................................................................................7-3
7-1-2 Basic Motor Parameter Settings .................................................................................................7-4
7-1-3 Motor Parameter Settings ...........................................................................................................7-6
7-2 V/f control with speed feedback ......................................................................................... 7-11
7-2-1 Settings of V/f Control with Speed Feedback............................................................................7-11
7-2-2 Protective Detection under V/f Control with Speed Feedback ..................................................7-12
7-2-3 Adjustments for V/f Control with Speed Feedback....................................................................7-14
7-3 Sensorless Vector Control ..................................................................................................7-16
7-3-1 Sensorless Vector Control Parameter Settings.........................................................................7-16
7-3-2 Motor Parameter Settings .........................................................................................................7-17
7-3-3 Adjustments for Sensorless Vector Control...............................................................................7-18
7-4 PM Motor...............................................................................................................................7-20
7-4-1 PM Motor and PM Motor Control ..............................................................................................7-20
7-4-2 Switching to PM Motor Mode ....................................................................................................7-21
7-4-3 Offline Auto-tuning for PM Motor Parameters ...........................................................................7-22
7-4-4 Adjustment of PM Motor Mode Settings....................................................................................7-22
7-5 Speed Control ......................................................................................................................7-26
7-5-1 Speed Control Settings .............................................................................................................7-26
7-6 Torque control......................................................................................................................7-31
7-6-1 Torque Control Settings.............................................................................................................7-31
7-6-2 Torque Bias Function Settings ..................................................................................................7-33
7-7 Position Control ...................................................................................................................7-36
7-7-1 Basic Operation.........................................................................................................................7-36
7-7-2 Position Control Gain ................................................................................................................7-38
7-7-3 Electronic Gear .........................................................................................................................7-39
7-7-4 Acceleration/Deceleration Time Selection.................................................................................7-40
7-7-5 Positioning data.........................................................................................................................7-42
7-7-6 Overtravel (OT) .........................................................................................................................7-43
7-7-7 Software OT ..............................................................................................................................7-44
7-7-8 Basic Return-to-origin Operation...............................................................................................7-44
7-7-9 Clearing of position ...................................................................................................................7-48
7-7-10 Position preset ..........................................................................................................................7-49
7-7-11 Orientation.................................................................................................................................7-49
7-7-12 Functions That Are Disabled in Position Control.......................................................................7-57
7-7-13 Position Monitor ........................................................................................................................7-57
7-7-14 Restarting Positioning ...............................................................................................................7-57
7-7-15 Brake Control during Position Control.......................................................................................7-58
7-7-16 Position Store Selection at Power OFF.....................................................................................7-61
7-7-17 Excessive Positional Deviation .................................................................................................7-61
7-7-18 Touch Probe (Latch) Function ...................................................................................................7-62
7-8 Motor tuning .........................................................................................................................7-65
7-8-1 Motor Off-line Auto-tuning .........................................................................................................7-65
7-8-2 Online Tuning ............................................................................................................................7-71
7-9 Brake control function.........................................................................................................7-72
CONTENTS
9
M1 Series EtherCAT Type User’s Manual (I670)