Omron R88D-KN series, Руководство пользователя

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9 Servo Parameter Objects
9-32
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
• Select the condition under which the positioning completion signal (INP1) is output.
Explanation of Settings
Additional Information
The setting of this parameter affects the detection condition for the Target reached flag in
Statusword (6041 hex).
• Set the hold time for when Positioning Completion Condition Selection (3432 hex) is set to 3.
Explanation of Settings
Additional Information
The setting of this parameter does not affect the detection condition for the Target reached flag in
Statusword (6041 hex).
3432 hex
Positioning Completion Condition Selection
Setting range 0 to 4 Unit

Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set
value
Description
0 Turn ON when the position error is equal to or lower than the Position window (6067 hex).
1 Turn ON when there is no position command and the position error is equal to or lower than the
Position window (6067 hex).
2 Turn ON when there is no position command, the zero speed detection signal is ON, and the position
error is equal to or lower than the Position window (6067 hex).
3 Turn ON when there is no position command and the position error is equal to or lower than the
Position window (6067 hex). Then, hold the ON state for the time set in the Positioning Completion
Hold Time (3433 hex).
After the Positioning Completion Hold Time expires, turn the INP1 output ON or OFF according to the
position command and position error at that time.
4 Turn ON when there is no position command and the position error is equal to or lower than the
Position window (6067 hex). Positioning starts when the time set in the Positioning Completion Hold
Time (3433 hex) has expired since the transition from a "no position command" to "position command
present" state.
3433 hex
Positioning Completion Hold Time
Setting range 0 to 30000 Unit ms Default setting 0 Data attribute A
Size 2 bytes (U16) Access RW PDO map Not possible.
Set value Description
0 The hold time will be an infinite time and the ON status will be held until the next position command
is received.
1 to 30000 The ON status is held for the set time [ms]. The output is turned OFF if a position command is
received while the ON status is being held.
csp
pp
hm
csp
pp
hm