Omron R88D-KN01H-ECT-L, Руководство пользователя

Страница: 312 / 626

9 Servo Parameter Objects
9 - 36
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
• Set the hold time for when 3432 hex (Positioning Completion Condition Selection) 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).
• Set the output timing of the Zero Speed Detection Output (ZSP) as motor speed [mm/s].
• The Zero Speed Detection Output (ZSP) turns ON when the motor speed is lower than the set value
of this object.
• The set value of this object is valid in both positive and negative directions, regardless of the actual
motor movement direction. The setting has a hysteresis of 10 mm/s.
Refer to 3-1-9 Control Output Details on page 3-12 for the Zero Speed Detection Output (ZSP).
3433 hex
Positioning Completion Hold Time
Setting
range
0 to 30,000
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 30,000 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.
3434 hex
Zero Speed Detection
Setting
range
10 to 20,000
Unit
mm/s Default
setting
50 Data
attribute
A
Size 2 bytes (INT16) Access RW PDO map Not possible
csp pp hm
A l l
(3434 hex – 10) mm/s
OUTM1
(3434 hex + 10) mm/s
ON
Positive
Speed
Negative