Omron OMNUC G Series - Chapter 5 Operating Functions

Chapter 5
Operating Functions
5-1 Position Control.................................................. 5-1
5-2 Speed Control .................................................... 5-4
5-3 Torque Control ................................................... 5-7
5-4 Forward and Reverse Drive Prohibit .................. 5-10
5-5 Brake Interlock ................................................... 5-11
5-6 Torque Limit ....................................................... 5-16
5-7 Soft Start ............................................................ 5-18
5-8 Acceleration/Deceleration Time Settings ........... 5-19
5-9 Moving Average Time ........................................ 5-20
5-10 Electronic Gear .................................................. 5-21
5-11 Speed Limit ........................................................ 5-22
5-12 Sequence Input Signals ..................................... 5-23
5-13 Sequence Output Signals .................................. 5-25
5-14 Backlash Compensation .................................... 5-27
5-15 Overrun Protection ............................................. 5-29
5-16 Gain Switching ................................................... 5-31
5-17 Speed Feed-forward .......................................... 5-38
5-18 Torque Feed-forward ......................................... 5-39
5-19 Speed Feedback Filter Selection ....................... 5-40
5-20 P Control Switching............................................ 5-41
5-21 Torque Command Filter Time Constant............. 5-42
5-22 Notch Filter......................................................... 5-43
5-23 Adaptive Filter .................................................... 5-45
5-24 Instantaneous Speed Observer ......................... 5-48
5-25 Damping Control ................................................ 5-50
5-26 User Parameters ................................................ 5-55
Setting and Checking Parameters ........................................5-55
Parameter Tables .................................................................5-61
5-27 Details on Important Parameters ....................... 5-86