Omron R88D-KN series User Manual

9-33
9 Servo Parameter Objects
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
9-5 Interface Monitor Settings
9
• Set the output timing of the Zero Speed Detection Output (ZSP) as motor speed [mm/s].
•
The Zero Speed Detection Output (ZSP) turns ON when the motor speed is lower than the set value of this object.
• The set value of this object is valid in both positive and negative directions, regardless of the actual
motor movement direction. The setting has a hysteresis of 10 mm/s.
Refer to Control Output Details on page 3-12 for the Zero speed detection output (ZSP).
•
It outputs the Speed conformity output (VCMP) when the speed command conforms to the motor speed.
• It is regarded as conformed when the difference between the speed command before the acceleration
or deceleration process inside the Drive and the motor speed is smaller than the set value on the
Speed Conformity Detection Range (3435 hex). The setting has a hysteresis of 10 mm/s.
• The speed conformity status can also be checked with the Speed Conformity (VCMP) flag in
EtherCAT communications status.
• This setting is also used as the detection threshold for the Speed Conformity (VCMP) flag in
EtherCAT communications status.
*1
Because the Speed Conformity Detection Range has a hysteresis of 10 mm/s, the actual detection range will be as follows:
Threshold for transition from OFF to ON: (3435 hex - 10) mm/s
Threshold for transition from ON to OFF: (3435 hex + 10) mm/s
Refer to the Control Output Details in Control Output Details on page 3-12 for the Speed conformity output (VCMP).
3434 hex
Zero Speed Detection
Setting range 10 to 20000 Unit mm/s Default setting 50 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.
3435 hex
Speed Conformity Detection Range
Setting range 10 to 20000 Unit mm/s Default setting 50 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
Speed
Negative operation
OUTM1
ON
(3434 hex + 10) mm/s
Positive operation
(3434 hex - 10) mm/s
csv
Speed [mm/s]
A speed command after the acceleration/
deceleration processing
Speed command
Motor speed
3435 hex
*1
ON ON OFF OFF
3435 hex
*1
Speed Conformity
Detection Range
3435 hex
*1
Speed Conformity Detection Range
Speed Conformity Detection Range
Time
Speed conformity
output (VCMP)

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English