Table Of Contents
19OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Chapter5 Basic Control Mode
5-1 Position Control .................................................................................. 5-1
5-2 Speed Control..................................................................................... 5-7
5-3 Torque Control.................................................................................... 5-14
5-4 Internally Set Speed Control............................................................... 5-19
5-5 Switching Control................................................................................ 5-23
5-6 Fully-closed Control............................................................................ 5-26
Chapter6 Applied Functions
6-1 Damping Control................................................................................. 6-1
6-2 Adaptive Filter..................................................................................... 6-5
6-3 Notch Filter ......................................................................................... 6-7
6-4 Electronic Gear Function.................................................................... 6-10
6-5 Encoder Dividing Function.................................................................. 6-14
6-6 Brake Interlock.................................................................................... 6-19
6-7 Gain Switching Function..................................................................... 6-24
6-8 Torque Limit........................................................................................ 6-32
6-9 Sequence I/O Signal........................................................................... 6-35
6-10 Forward and Reverse Drive Prohibition Functions............................. 6-41
6-11 Disturbance Observer Function.......................................................... 6-44
6-12 Gain Switching 3 Function.................................................................. 6-46
6-13 Friction Torque Compensation Function ............................................ 6-47
6-14 Inertia Ratio Switching Function......................................................... 6-49
6-15 Hybrid Vibration Suppression Function .............................................. 6-50
6-16 Feed-forward Function ....................................................................... 6-51
6-17 Instantaneous Speed Observer Function........................................... 6-55
Chapter7 Safety Function
7-1 Safe Torque OFF (STO) Function...................................................... 7-1
7-2 Operation Example............................................................................. 7-4
7-3 Connection Example .......................................................................... 7-6
Chapter8 Parameter Details
8-1 Basic Parameters ............................................................................... 8-1
8-2 Gain Parameters ................................................................................ 8-9
8-3 Vibration Suppression Parameters..................................................... 8-20
8-4 Analog Control Parameters ................................................................ 8-25
8-5 Interface Monitor Setting Parameters................................................. 8-37
8-6 Extended Parameters......................................................................... 8-47
8-7 Special Parameters............................................................................ 8-60
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