Omron R88D-1SN30F-ECT

CONTENTS
10
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7-5 Backlash Compensation................................................................................................... 7-20
7-5-1 Operating Conditions ..............................................................................................................7-20
7-5-2 Objects Requiring Settings .....................................................................................................7-20
7-5-3 Description of Operation .........................................................................................................7-21
7-6 Brake Interlock................................................................................................................... 7-22
7-6-1 Objects Requiring Settings .....................................................................................................7-22
7-6-2 Description of Operation .........................................................................................................7-24
7-6-3 Operation Timing ....................................................................................................................7-25
7-7 Electronic Gear Function.................................................................................................. 7-29
7-7-1 Objects Requiring Settings .....................................................................................................7-29
7-7-2 Operation Example ................................................................................................................. 7-30
7-8 Torque Limit Switching ..................................................................................................... 7-31
7-8-1 Operating Conditions ..............................................................................................................7-31
7-8-2 Objects Requiring Settings .....................................................................................................7-31
7-8-3 Torque Limit Switching Method...............................................................................................7-32
7-9 Soft Start ............................................................................................................................ 7-33
7-9-1 Objects Requiring Settings .....................................................................................................7-33
7-9-2 Soft Start Acceleration/Deceleration Time .............................................................................. 7-33
7-9-3 Velocity Command First-order Lag Filter ................................................................................ 7-34
7-10 Gain Switching Function .................................................................................................. 7-35
7-10-1 Objects Requiring Settings .....................................................................................................7-35
7-10-2 Mode Selection .......................................................................................................................7-37
7-10-3 Gain Switching in Position Control.......................................................................................... 7-38
7-11 Touch Probe Function (Latch Function).......................................................................... 7-39
7-11-1 Related Objects ......................................................................................................................7-39
7-11-2 Trigger Signal Settings............................................................................................................ 7-41
7-11-3 Operation Sequence............................................................................................................... 7-42
7-12 Encoder Dividing Pulse Output Function ....................................................................... 7-43
7-12-1 Objects Requiring Settings .....................................................................................................7-44
7-12-2 Dividing Ratio..........................................................................................................................7-44
7-12-3 Output Reverse Selection.......................................................................................................7-45
7-12-4 Z-phase Output.......................................................................................................................7-45
7-13 Dynamic Brake................................................................................................................... 7-46
7-13-1 Operating Conditions ..............................................................................................................7-46
7-13-2 Objects Requiring Settings .....................................................................................................7-46
7-13-3 Description of Operation......................................................................................................... 7-47
7-14 Communications Error Period Command Correction Function ................................... 7-50
7-14-1 Operating Conditions ..............................................................................................................7-50
7-14-2 Operation Example .................................................................................................................7-50
Section 8 Safety Function
8-1 Safe Torque OFF Function.................................................................................................. 8-2
8-2 STO Function via Safety Input Signals.............................................................................. 8-4
8-2-1 I/O Signal Specifications........................................................................................................... 8-4
8-2-2 Operation Example ................................................................................................................... 8-6
8-2-3 Connection Example.................................................................................................................8-7
8-3 STO Function via EtherCAT Communications................................................................ 8-10
8-3-1 Connection and Setting ..........................................................................................................8-10
8-3-2 Operation Example ................................................................................................................. 8-12
8-3-3 Connection Example............................................................................................................... 8-14
Section 9 Details on Servo Parameters
9-1 Object Description Format ................................................................................................. 9-4