Omron XTRADRIVE - Page 9

XtraDrive User Manual Table of Contents/Preface
ix
5.9.1.4. Acceleration Units .................................................................................. 5-93
5.9.1.5. Setting Default Motion Profile Parameters............................................ 5-94
5.9.1.6. Profile Speed (Pn2A2, Pn2A3) .............................................................. 5-95
5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5).................................................... 5-95
5.9.1.8. Jerk Smoothing Time (Pn2A6) .............................................................. 5-95
5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9) ............................................ 5-96
5.9.1.10. Motion End Window (Pn2C0) ............................................................... 5-96
5.9.2. Torque Control........................................................................................ 5-96
5.9.2.1. Torque Slope (Pn2C1) ..............................................................5-96
5.9.3. Homing.................................................................................................... 5-97
5.9.4. Digital I/O ............................................................................................... 5-98
5.9.5. Auto Tuning............................................................................................ 5-99
5.10. Auto Running a User Program..................................................................... 5-99
6. Servo Adjustment..............................................................................................6-1
6.1. Selection of Control Mode............................................................................. 6-2
6.2. Analog Input or Contact Input Velocity Control........................................... 6-3
6.2.1. Principle and Block Diagram of the Velocity Control ............................ 6-3
6.2.2. Parameters of the Velocity Control.......................................................... 6-4
6.2.3. Setting the Input Gain............................................................................... 6-4
6.2.4. Adjusting Offset........................................................................................ 6-5
6.2.5. Using the Soft Start Function ................................................................... 6-6
6.2.6. Load Inertia Setting................................................................................... 6-7
6.2.7. Adjusting Speed Loop Gain ..................................................................... 6-8
6.2.8. Setting the Torque Reference Filter Time Constant ................................ 6-9
6.2.9. Notch Filter ............................................................................................... 6-9
6.2.10. Gain Setting Reference Values............................................................... 6-10
6.3. NCT Position Control................................................................................... 6-12
6.3.1. Load Inertia Setting................................................................................. 6-12
6.3.2. Position Control Block Diagram ............................................................ 6-14
6.3.3. NCT Gain Parameters............................................................................. 6-15
6.3.4. OCA - Oscillation Canceling Algorithm ...............................................6-16
6.3.5. Additional Parameters Tuning................................................................ 6-17
6.3.6. Filters....................................................................................................... 6-17
6.3.7. Flexible System Parameters ................................................................... 6-18
6.3.8. Gain Factor.............................................................................................. 6-19
6.3.9. Integral Clear Parameters ....................................................................... 6-19
6.3.10. Tuning Procedure for Position Control Parameters............................... 6-20
6.4. Analog Monitor ............................................................................................ 6-22
7. Using the Panel Operator.................................................................................7-1
7.1. Basic Operation .............................................................................................. 7-2
7.1.1. Panel Operator .......................................................................................... 7-2
7.1.2. Resetting Servo Alarms............................................................................ 7-3
7.1.3. Basic Mode Selection ............................................................................... 7-3
7.1.4. Status Display Mode................................................................................. 7-4
7.1.5. Operation in Parameter Setting Mode...................................................... 7-6
7.1.6. Operation in Monitor Mode ................................................................... 7-11
7.2. Applied Operation ........................................................................................ 7-16
7.2.1. Operation in Alarm Traceback Mode .................................................... 7-17
7.2.2. JOG Operation ........................................................................................ 7-18
7.2.3. Automatic Adjustment of Speed and Torque Reference Offset............ 7-20