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Table Of Contents
15
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Damping Control................................................................................. 6-1
Adaptive Filter..................................................................................... 6-5
Notch Filter ......................................................................................... 6-7
Electronic Gear Function .................................................................... 6-10
Encoder Dividing Function.................................................................. 6-13
Brake Interlock.................................................................................... 6-18
Gain Switching Function..................................................................... 6-23
Torque Limit........................................................................................ 6-31
Sequence I/O Signal........................................................................... 6-34
6-10 Forward and Reverse Drive Prohibition Functions ............................. 6-40
6-11 Disturbance Observer Function.......................................................... 6-43
6-12 Gain Switching 3 Function.................................................................. 6-45
6-13 Friction Torque Compensation Function ............................................ 6-46
6-14 Inertia Ratio Switching Function ......................................................... 6-48
6-15 Hybrid Vibration Suppression Function .............................................. 6-49
6-16 Feed-forward Function ....................................................................... 6-50
6-17 Instantaneous Speed Observer Function ........................................... 6-54
Safe Torque OFF (STO) Function ...................................................... 7-1
Operation Example............................................................................. 7-4
Connection Examples......................................................................... 7-6
Parameters Details
Basic Parameters ............................................................................... 8-1
Gain Parameters ................................................................................ 8-9
Vibration Suppression Parameters..................................................... 8-20
Analog Control Parameters ................................................................ 8-25
Interface Monitor Setting Parameters................................................. 8-36
Extended Parameters......................................................................... 8-46
Special Parameters ............................................................................ 8-59
Operation
Operational Procedure ....................................................................... 9-1
Preparing for Operation ...................................................................... 9-2
Using the Front Display ...................................................................... 9-6
Setting the Mode ................................................................................ 9-7
Trial Operation.................................................................................... 9-33
Chapter10 Adjustment Functions
10-1 Gain Adjustment ................................................................................. 10-1
10-2 Realtime Autotuning ........................................................................... 10-3
10-3 Manual Tuning.................................................................................... 10-10