Omron M1 Series

6-3-2 Motor Parameter Settings .........................................................................................................6-17
6-3-3 Adjustments for Sensorless Vector Control
...............................................................................6-18
6-4 PM Motor Mode ....................................................................................................................6-20
6-4-1 PM Motor and PM Motor Control ..............................................................................................6-20
6-4-2 Switching to PM Motor Mode ....................................................................................................6-21
6-4-3 Offline Auto-tuning for PM Motor Parameters ...........................................................................6-22
6-4-4 Adjustment of PM Motor Mode Settings....................................................................................6-22
6-5 Speed Control ......................................................................................................................6-26
6-5-1 Speed Control Settings .............................................................................................................6-26
6-6 Torque Control .....................................................................................................................6-31
6-6-1 Torque Control Settings.............................................................................................................6-31
6-6-2 Torque Bias Function Settings ..................................................................................................6-33
6-7 Position Control ...................................................................................................................6-36
6-7-1 Basic Operation.........................................................................................................................6-36
6-7-2 Position Control Gain ................................................................................................................6-38
6-7-3 Electronic Gear .........................................................................................................................6-39
6-7-4 Acceleration/Deceleration Time Selection.................................................................................6-40
6-7-5 Positioning Data ........................................................................................................................6-41
6-7-6 Overtravel (OT) .........................................................................................................................6-43
6-7-7 Software OT ..............................................................................................................................6-43
6-7-8 Basic Return-to-origin Operation...............................................................................................6-44
6-7-9 Clearing of Position ...................................................................................................................6-48
6-7-10 Position Preset ..........................................................................................................................6-49
6-7-11 Orientation.................................................................................................................................6-49
6-7-12 Functions That Are Disabled in Position Control.......................................................................6-57
6-7-13 Position Monitor ........................................................................................................................6-57
6-7-14 Restarting Positioning ...............................................................................................................6-58
6-7-15 Brake Control during Position Control.......................................................................................6-58
6-7-16 Position Store Selection at Power OFF.....................................................................................6-61
6-7-17 Excessive Positional Deviation .................................................................................................6-61
6-7-18 Touch Probe (Latch) Function ...................................................................................................6-62
6-8 Motor tuning .........................................................................................................................6-65
6-8-1 Motor Off-line Auto-tuning .........................................................................................................6-65
6-8-2 Online Tuning ............................................................................................................................6-71
6-9 Brake Control Function .......................................................................................................6-72
6-9-1 Operation Sequence of Brake Control Function .......................................................................6-72
6-9-2 Brake Control Function Settings ...............................................................................................6-76
6-10 Application Control..............................................................................................................6-78
6-10-1 Application Control Settings ......................................................................................................6-78
6-11 Torque Limit Function .........................................................................................................6-81
6-11-1 Torque Limit Function Settings..................................................................................................6-81
6-11-2 Torque Monitor ..........................................................................................................................6-83
6-12 Overtorque/Undertorque Function.....................................................................................6-85
6-12-1 Overtorque/Undertorque Function Settings ..............................................................................6-85
Section 7 Other Functions
7-1 Status Monitors......................................................................................................................7-3
7-1-1 Operation Monitor .......................................................................................................................7-3
7-1-2
I/O check ...................................................................................................................................7-11
7-1-3 Maintenance Information...........................................................................................................7-13
7-1-4 Alarm information ......................................................................................................................7-18
7-2 Multifunction Input/Output Functions List ........................................................................7-26
7-2-1 Multifunction Input Selection .....................................................................................................7-26
7-2-2 Multifunction Output Selection ..................................................................................................7-31
7-3 Analog I/O Settings..............................................................................................................7-35
7-3-1 Analog Input Function Selection ...............................................................................................7-35
CONTENTS
9
M1 Series Standard Type User's Manual (I669)