Omron G5 Series User Manual

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7 Parameter Details
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
7-1 Basic Parameters
7
Explanation of Set Values
• Set the control mode to be used.
• Selecting the combined mode (set value: 3) enables the selection of Mode 1 or Mode 2 based on the
Control Mode Switching Input (TVSEL).
• If Control Mode Switching Input is open: Mode 1 is selected.
• If Control Mode Switching Input is shorted: Mode 2 is selected.
• Do not input commands during 10 ms before and after mode switching operation.
Explanation of Set Values
• Set the realtime autotuning operation mode.
Pn001
Control Mode Selection
Setting
range
0 to 6 Unit – Default
setting
0 Cycle the
power supply
Required
Set value Description
0 Position control (Pulse-train command)
1 Speed control (Internally set speed control)
2 Reserved (Do not set.)
3 Mode 1: Position control, Mode 2: Speed control (Internally set speed control)
4 Reserved (Do not set.)
5 Reserved (Do not set.)
6 Reserved (Do not set.)
Pn002
Realtime Autotuning Mode Selection
Setting
range
0 to 6 Unit – Default
setting
1 Cycle the
power supply
–
Set value Description
0 Disabled
1 Focus on stability
2 Focus on positioning
3 Used when unbalanced load is present, i.e., with a vertical axis, etc.
4 Used when a vertical axis or other unbalanced load is present and when friction is large.
5 Used only for estimating load characteristics.
6 Used for customizing the realtime autotuning mode.
All
Mode 1 Mode 2
Closed
Open
Control Mode
Switching Input
10 ms or more 10 ms or more
Open
Mode 1
All

Omron G5 Series Specifications

General

Feedback	Incremental Encoder, Absolute Encoder
Communication	EtherCAT
Safety Function	STO (Safe Torque Off)
Protection Functions	Overvoltage, Undervoltage, Overcurrent
Vibration Resistance	4.9 m/s² (10 to 55 Hz)