Index
I
5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
functions........................................................ 1-5
general specifications
....................................... 3-1
installation conditions
....................................... 4-1
life expectancy
............................................. 12-32
model number
................................................ 2-3
model table
.................................................... 2-5
part names
..................................................... 1-4
replacing
...................................................... 12-3
Servo Drive and Servomotor combination tables
. 2-10
Servo Drive profile objects
.................................. 6-36
Controlword (6040 hex)
.................................. 6-37
Digital inputs (60FD hex)
................................ 6-48
Digital outputs (60FE hex)
............................... 6-50
Disable operation option code (605C hex)
......... 6-40
Error code (603F hex)
.................................... 6-36
Fault reaction option code (605E hex)
............... 6-41
Following error actual value (60F4 hex)
............. 6-48
Following error window (6065 hex)
................... 6-43
Gear ratio (6091 hex)
..................................... 6-44
Home offset (607C hex)
................................. 6-44
Max torque (6072 hex)
................................... 6-43
Modes of operation (6060 hex)
........................ 6-42
Modes of operation display (6061 hex)
.............. 6-42
Motor type (6402 hex)
.................................... 6-51
Negative torque limit value (60E1 hex)
.............. 6-48
Position actual internal value (6063 hex)
............ 6-42
Position actual value (6064 hex)
...................... 6-42
Position demand value (6062 hex)
................... 6-42
Position offset (60B0 hex)
............................... 6-45
Positive torque limit value (60E0 hex)
............... 6-48
Shutdown option code (605B hex)
.................... 6-39
Software position limit (607D hex)
.................... 6-44
Statusword (6041 hex)
................................... 6-37
Supported drive modes (6502 hex)
................... 6-52
Target position (607A hex)
.............................. 6-43
Torque actual value (6077 hex)
........................ 6-43
Torque demand (6074 hex)
............................. 6-43
Torque offset (60B2 hex)
................................ 6-46
Touch probe function (60B8 hex)
..................... 6-46
Touch probe pos1 pos value (60BA hex)
........... 6-47
Touch probe pos2 pos value (60BC hex)
........... 6-47
Touch probe status (60B9 hex)
........................ 6-47
Velocity actual value (606C hex)
...................... 6-43
Velocity offset (60B1 hex)
............................... 6-45
Servo Ready Completed Output (READY)
............. 3-21
Servomotor
characteristics
1,000-r/min Servomotors
............................ 3-52
2,000-r/min Servomotors
............................ 3-44
3,000-r/min Servomotors
............................ 3-33
dimensions
1,000-r/min Servomotors
............................ 2-46
2,000-r/min Servomotors
............................ 2-41
3,000-r/min Servomotors
............................ 2-31
general specifications
..................................... 3-32
installation conditions
....................................... 4-2
life expectancy
............................................. 12-31
model number
................................................ 2-4
model tables
................................................... 2-6
replacing
...................................................... 12-2
Servo Drive and Servomotor combination tables
. 2-10
special objects
Backlash Compensation Amount (3705 hex)
...... 9-46
Backlash Compensation Selection (3704 hex)
.... 9-46
Backlash Compensation Time Constant
(3706 hex)
................................................... 9-46
Communications Control (3800 hex)
................. 9-47
Disturbance Observer Filter Setting (3624 hex)
... 9-40
Disturbance Torque Compensation Gain
(3623 hex)
.................................................... 9-40
Electric Current Response Setting (3611 hex)
..... 9-39
Error Detection Allowable Time Setting (3614 hex)
9-39
Forward Direction Torque Offset (3608 hex)
....... 9-38
Function Expansion Setting (3610 hex)
.............. 9-38
Gain 3 Effective Time (3605 hex)
...................... 9-38
Gain 3 Ratio Setting (3606 hex)
........................ 9-38
Hybrid Vibration Suppression Filter (3635 hex)
.... 9-43
Hybrid Vibration Suppression Gain (3634 hex)
.... 9-43
Origin Range (3803 hex)
................................. 9-49
Overspeed Detection Level Setting at Immediate Stop
(3615 hex)
.................................................... 9-40
Power ON Address Display Duration Setting
(3701 hex)
.................................................... 9-45
Power Supply ON Initialization Time (3618 hex)
.. 9-40
Realtime Autotuning Estimated Speed Selection
(3631 hex)
.................................................... 9-41
Reverse Direction Torque Offset (3609 hex)
....... 9-38
Torque Command Value Offset (3607 hex)
......... 9-38
Vibration Detection Threshold (3637 hex)
........... 9-43
Warning Hold Selection (3759 hex)
................... 9-47
Warning Mask Setting (3638 hex)
..................... 9-43
status indicators
.................................................. 5-2
surge absorber
.................................................. 4-28
surge suppressor
............................................... 4-35
Sync Manager
.................................................... 5-6
Sync manager communication objects
................... 6-29
SM2 synchronization (1C32 hex)
...................... 6-31
SM3 synchronization (1C33 hex)
...................... 6-32
Sync manager 0 PDO assignment (1C10 hex)
.... 6-29
Sync manager 1 PDO assignment (1C11 hex)
.... 6-30
Sync manager 2 PDO assignment (1C12 hex)
.... 6-30
Sync manager 3 PDO assignment (1C13 hex)
.... 6-30
Sync manager communication type (1C00 hex)
... 6-29
system block diagram
.......................................... 1-6
system configuration
...................................... 1-3, 2-1
T
terminal block
wiring procedure
............................................ 4-19
Terminal block specifications
........................ 4-14, 4-15
terminal block wire sizes
...................................... 4-16
torque limit
......................................................... 6-8
Torque Limit Output (TLIMT)
................................ 3-21
torque limit switching
.......................................... 7-21
Touch probe function
........................................... 6-9
trial operation
.................................................... 10-7
troubleshooting
........................................ 12-1, 12-13
troubleshooting using the operation state
............. 12-25
troubleshooting with error displays
...................... 12-13
U
UL and cUL standards ........................................ 1-12
USB connector specifications (CN7)
...................... 3-28
V
vibration suppression settings
Adaptive Filter Selection (3200 hex)
.................. 9-15
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