Omron 8U0108-E1-01, User Manual

Page: 169 / 333

XtraDrive User Manual Chapter
6
: Servo Adjustment
6-2
6.1. Selection of Control Mode
The XtraDrive servo amplifier offers speed control, position control, torque
control, and the other control modes shown in the following table.
The following parameter is used to set the control mode.
Parameter Signal Setting Control Mode
Pn000.1
Control Method
Selection
Default Setting: D
Speed/Torque
Control, Position
Control
Pn000.1 Setting Control Mode
0 Speed Control (Analog Reference)
2 Torque Control (Analog Reference)
3 Contact Input Speed Control Selection (Contact Reference)
4
Contact Input Speed Control Selection (Contact Reference)
↔
Speed Control
(Analog Reference)
6
Contact Input Speed Control Selection (Contact Reference)
↔
Torque Control
(Analog Reference)
8 Position Control (Pulse Train Reference)
↔
Torque Control (Analog Reference)
9 Torque Control (Analog Reference)
↔
Speed Control (Analog Reference)
A Speed Control (Analog Reference)
↔
Zero Clamp Control
B
Position Control (Pulse Train Reference)
↔
Position Control (Inhibit)
C Position Control (Pulse Train Reference)
D
NCT Position Control, NCT Speed Control, Torque Control (Serial Communication
Command)
Whenever Speed Control or Position Control is selected, the Loop Gain
parameters should be adjusted in order to ensure a stable and smooth
operation.
Adjustment of Speed Control using Analog Input or Contact Input is
described below in section 6.2, for setting cases of Pn000.1 = 0, 3, 6, 9 and A.
Adjustment for Position Control or NCT Velocity Control is described below
in section 6.3, for setting cases of Pn000.1=8, B, C and D.