Omron R88D-GT series, User Manual

Page: 487 / 510

9-12
9-2 Parameter Tables
9
Appe
ndix
02
Control Mode
Selection
Set the control mode to be used.
0 --- 0 to 6
Yes
0 Position
1 Speed
2 Torque
3 Position/speed
4 Position/torque
5 Speed/torque
6 Reserved
03
Torque Limit
Selection
Set the torque limit method for forward and reverse op-
eration.
1 --- 0 to 3 ---
0
Use PCL and NCL as analog torque limit in-
puts.
1
Use Pn5E as the limit value for forward and
reverse operation.
2 Forward: Use Pn5E, Reverse: Use Pn5F.
3
GSEL/TLSEL input is open: Use Pn5E,
Input is closed: Use Pn5F.
04
Drive Prohibit
Input Selection
You can stop the Servomotor from rotating beyond the
device's travel distance range by setting limit inputs.
1 --- 0 to 2
Yes
0 POT input and NOT input enabled.
1 POT input and NOT input disabled.
2
POT input and NOT input enabled (alarm
code 38 appears).
05
Command
Speed Selection
Select the speed command when using speed control.
0 --- 0 to 3 ---
0 Speed command input (REF)
1
No. 1 Internally Set Speed to No. 4 Internally
Set Speed (Pn53 to Pn56)
2
No. 1 Internally Set Speed to No. 3 Internally
Set Speed (Pn53 to Pn55) and External
Speed Command (REF)
3
No. 1 Internally Set Speed to No. 8 Internally
Set Speed (Pn53 to Pn56 and Pn74 to Pn77)
06
Zero Speed
Designation/
Speed
Command
Direction Switch
Set the function of the Zero-speed Designation Input
(VZERO).
0 --- 0 to 2 ---
0
The zero-speed designation input will be ig-
nored, and a zero-speed designation will not
be detected.
1
The zero-speed designation input will be en-
abled, and the speed command will be as-
sumed to be zero when the connection
between the input and common is open.
2 Used as the speed command sign.
Pn
No.
Parameter
name
Setting Explanation
Default
setting
Unit
Setting
range
Power
OFF
→
ON