Omron R88M-K - Page 28

20
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Contents
Section 8 Safety Function
8-1 Safe Torque OFF Function...................................................................................................... 8-2
8-1-1 I/O Signal Specifications .............................................................................................................8-3
8-2 Operation Example .................................................................................................................. 8-5
8-3 Connection Examples ............................................................................................................. 8-7
Section 9 Details on Servo Parameter Objects
9-1 Basic Settings .......................................................................................................................... 9-2
9-2 Gain Settings ........................................................................................................................... 9-7
9-3 Vibration Suppression Settings ........................................................................................... 9-20
9-4 Analog Control Objects......................................................................................................... 9-26
9-5 Interface Monitor Settings .................................................................................................... 9-31
9-6 Extended Objects .................................................................................................................. 9-41
9-7 Special Objects ...................................................................................................................... 9-47
Section 10 Operation
10-1 Operational Procedure .......................................................................................................... 10-2
10-2 Preparing for Operation ........................................................................................................ 10-3
10-2-1 Items to Check Before Turning ON the Power Supply...............................................................10-3
10-2-2 Turning ON the Power Supply ................................................................................................... 10-4
10-2-3 Checking the Displays...............................................................................................................10-5
10-2-4 Absolute Encoder Setup ...........................................................................................................10-7
10-2-5 Setting Up an Absolute Encoder from the CX-Drive .................................................................10-7
10-3 Trial Operation ....................................................................................................................... 10-8
10-3-1 Preparations for Trial Operation ................................................................................................10-8
10-3-2 Test Operation via USB Communications from the CX-Drive ...................................................10-9
Section 11 Adjustment Functions
11-1 Analog Monitor ...................................................................................................................... 11-2
11-1-1 Objects Requiring Settings .......................................................................................................11-2
11-2 Gain Adjustment .................................................................................................................... 11-5
11-2-1 Purpose of the Gain Adjustment ............................................................................................... 11-5
11-2-2 Gain Adjustment Methods......................................................................................................... 11-5
11-2-3 Gain Adjustment Procedure ...................................................................................................... 11-6
11-3 Realtime Autotuning.............................................................................................................. 11-7
11-3-1 Objects Requiring Settings .......................................................................................................11-8
11-3-2 Setting Realtime Autotuning......................................................................................................11-8
11-3-3 Setting Machine Rigidity............................................................................................................11-9
11-4 Manual Tuning...................................................................................................................... 11-15
11-4-1 Basic Settings ......................................................................................................................... 11-15
11-5 Damping Control.................................................................................................................. 11-17
11-5-1 Objects Requiring Settings .....................................................................................................11-17
11-5-2 Operating Procedure............................................................................................................... 11-18
11-6 Adaptive Filter...................................................................................................................... 11-20
11-6-1 Objects Requiring Settings .....................................................................................................11-21
11-6-2 Operating Procedure............................................................................................................... 11-22