Omron R88D-KN01H-ECT-L, Руководство пользователя

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9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-
7 Specia
l Ob
jects
9
• If the command compensation for communications errors for CSP is enabled and a communications
error occurs, the Servo Drive will compensate and control the internal command based on the value
of the Target position (607A hex) that was most recently received normally.
Additional Information
Setting Example
Instantaneous speed observer function: enabled
Disturbance observer function: enabled
Disturbance observer operation setting: enabled at all time
Electric current response improvement function: enabled
Command compensation for communications errors for CSP: Disabled
If the settings are as described above, the bit will be 0010011, and the decimal value 19.
Therefore, the set value will be 19.
Refer to 11-8 Disturbance Observer Function on page 11-28 and 11-11 Instantaneous Speed Observer
Function on page 11-35.
• Set the allowable time until stopping if an immediate stop is executed when an error is detected.
• When the time exceeds the set value, the operation forcibly turns to an error state.
• When the object is set to 0, the protection for the allowable time does not function.
For details, refer to 12-3-2 Immediate Stop Operation at Errors on page 12-11.
3614 hex
Error Detection Allowable Time Setting
Setting
range
0 to 1,000
Unit
ms Default
setting
200 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
0
Command
speed
Command
position
Communications cycle
: Normal communications
– : Communications error
Solid line: Command compensation enabled.
Dashed line: Command compensation disabled.
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