Index
I
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
noise resistance............................................ 4-36
encoder cable specifications
................................ 3-57
encoder cables (European flexible cables)
..... 2-12, 3-57
encoder cables (global flexible cables)
.................. 2-16
encoder cables (global non-flexible cables)
............ 2-14
encoder connector specifications (CN2)
................ 3-23
encoder connectors
........................................... 3-67
Error Clear Attribute Output (ALM-ATB)
................. 3-22
error list
........................................................... 12-8
Error Output (/ALM)
........................................... 3-21
EtherCAT
........................................................... 1-2
command coding
............................................. 6-2
communications cable
.................................... 2-18
communications cycle
...................................... 5-8
communications specifications
........................... 3-6
Cyclic synchronous position mode
...................... 6-5
state coding
................................................... 6-3
state descriptions
............................................ 6-2
terminology
.................................................. A-19
EtherCAT Slave Information file
............................. 5-1
EtherCAT State Machine
...................................... 5-4
extended objects
Control Input Signal Read Setting (3515 hex)
..... 9-35
Drive Prohibition Input Selection (3504 hex)
....... 9-32
Forward External Torque Limit (3525 hex)
......... 9-37
Immediate Stop Torque (3511 hex)
.................. 9-34
Momentary Hold Time (3509 hex)
.................... 9-34
Overload Detection Level Setting (3512 hex)
...... 9-34
Overrun Limit Setting (3514 hex)
...................... 9-35
Overspeed Detection Level Setting (3513 hex)
... 9-35
Position Setting Unit Selection (3520 hex)
......... 9-36
Reverse External Torque Limit (3526 hex)
......... 9-37
Stop Selection for Drive Prohibition Input
(3505 hex)
................................................... 9-33
Torque Limit Selection (3521 hex)
.................... 9-36
Undervoltage Error Selection (3508 hex)
........... 9-34
external device monitor (EDM) output signal
............ 8-3
external encoder
connection of external encoder input signals
...... 3-24
example of connection
................................... 3-25
input signal table
........................................... 3-24
External Encoder Connector
................................ 3-74
external encoder connector specifications (CN4)
..... 3-23
External Feedback Pulse Dividing Ratio Setting
...... 6-16
External Latch Input Signals
(EXT1, EXT2 and EXT3)
..................................... 3-18
External Regeneration Resistor
........................... 4-44
combining
.................................................... 4-46
connecting
................................................... 4-45
dimensions
.................................................. 2-50
model list
..................................................... 2-19
specifications
................................................ 3-80
External Regeneration Resistor connector
specifications (CNC)
.................................. 3-10, 4-13
External Regeneration Resistor connector
specifications (CND)
.......................................... 4-15
External Torque Limit Input (NCL)
........................ 3-19
F
feed-forward function ........................................ 11-29
fixed PDO mapping
............................................. 5-6
forward drive prohibition function
............................ 7-6
Forward Drive Prohibition Input (POT)
................... 3-18
Forward External Torque Limit Input (PCL)
............. 3-19
friction torque compensation function
................... 11-26
fully-closed control
............................................. 6-12
supported external encoders
............................ 6-14
fully-closed mode adjustment
............................. 11-14
G
gain adjustment ................................................. 11-4
gain settings
Gain Switching Delay Time in Position Control
(3116 hex)
.................................................... 9-12
Gain Switching Hysteresis in Position Control
(3118 hex)
.................................................... 9-13
Gain Switching Input Operating Mode Selection
(3114 hex)
.................................................... 9-10
Gain Switching Level in Position Control
(3117 hex)
.................................................... 9-13
Position Gain Switching Time (3119 hex)
........... 9-13
Position Loop Gain 1 (3100 hex)
........................ 9-6
Position Loop Gain 2 (3105 hex)
........................ 9-8
Speed Feed-forward Command Filter (3111 hex)
. 9-10
Speed Feed-forward Gain (3110 hex)
................. 9-9
Speed Feedback Filter Time Constant 1 (3103 hex)
9-8
Speed Feedback Filter Time Constant 2 (3108 hex)
9-9
Speed Loop Gain 1 (3101 hex)
.......................... 9-7
Speed Loop Gain 2 (3106 hex)
.......................... 9-9
Speed Loop Integral Time Constant 1 (3102 hex)
. 9-8
Speed Loop Integral Time Constant 2 (3107 hex)
. 9-9
Switching Mode in Position Control (3115 hex)
.... 9-11
Torque Command Filter Time Constant 1
(3104 hex)
..................................................... 9-8
Torque Command Filter Time Constant 2
(3109 hex)
..................................................... 9-9
Torque Feed-forward Amount (3112 hex)
........... 9-10
Torque Feed-forward Command Filter (3113 hex)
9-10
gain switching 3 function
..................................... 7-30
gain switching function
........................................ 7-23
general-purpose inputs
....................................... 3-17
General-purpose Outputs (OUTM1 and OUTM2)
..... 3-21
H
harmonic current measures ................................. 4-37
hybrid vibration suppression function
................... 11-28
I
immediate stop operation at errors ...................... 12-11
improving control I/O signal noise resistance
........... 4-37
incremental encoder
specifications
................................................ 3-56
instantaneous speed observer function
................ 11-32
interface monitor settings
Analog Monitor 1 Scale Setting (3417 hex)
......... 9-26
Analog Monitor 1 Selection (3416 hex)
............... 9-26
Analog Monitor 2 Scale Setting (3419 hex)
......... 9-27
Analog Monitor 2 Selection (3418 hex)
............... 9-27
Analog Monitor Output Selection (3421 hex)
....... 9-27
Brake Threshold Speed During Operation
(3439 hex)
.................................................... 9-30
Brake Timing During Operation (3438 hex)
......... 9-29
Brake Timing when Stopped (3437 hex)
............. 9-29
Input Signal Selection 1 (3400 hex)
................... 9-24
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