Omron R88M-K User Manual

6-17
6 Basic Control Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-6 Fully-closed Control
6
6-6-2 Objects Requiring Settings
• During fully-closed control, there are restrictions on the PDO sizes and communications cycle.
For details, refer to A-1-3 Communications Cycles and Corresponding Modes of Operation on
page A-5.
Set the relation between the command direction and the motor rotation direction.
0: Clockwise when viewed from the end of the shaft for positive commands
1: Counterclockwise when viewed from the end of the shaft for positive commands
When object 3000 hex is set to 1, opposite directions will be used for the external encoder counting
direction and the total external encoder feedback pulses and other monitor counts.
Select the fully-closed control (set value: 6).
6-6-2 Objects Requiring Settings
Index Sub-index Name Description Reference
3000 hex 00 hex Rotation Direction
Switching
Set the relation between the command
direction and the motor rotation direction.
page 9-2
3001 hex 00 hex Control Mode Selection Select the control mode. page 9-3
6091 hex 01 hex Motor revolutions Set the numerator of the electronic gear
ratio for the Target position (607A hex).
page A-92
6091 hex 02 hex Shaft revolutions Set the denominator of the electronic gear
ratio for the Target position (607A hex).
3323 hex 00 hex External Feedback Pulse
Type Selection
Select the external encoder type. page 9-28
3324 hex 00 hex External Feedback Pulse
Dividing Numerator
Set the numerator of the external feedback
pulse divider setting.
page 9-29
3325 hex 00 hex External Feedback Pulse
Dividing Denominator
Set the denominator of the external
feedback pulse divider setting.
page 9-29
3326 hex 00 hex External Feedback Pulse
Direction Switching
Set the polarity of the external encoder
feedback pulse.
page 9-29
3327 hex 00 hex External Feedback Pulse
Phase-Z Setting
Set whether to enable or disable the
disconnection detection function for phase Z
when an external encoder with a 90° phase
difference output is used.
page 9-30
3328 hex 00 hex Hybrid Following Error
Counter Overflow Level
Set the threshold for the Excessive Hybrid
Deviation Error (Error No. 25.0) in the
command unit.
page 9-30
3329 hex 00 hex Hybrid Following Error
Counter Reset
The hybrid error becomes 0 every time the
motor rotates by the set value.
page 9-30
Rotation Direction Switching (3000 Hex)
Control Mode Selection (3001 Hex)

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English