User manual OMRON SMARTSTEP 2

[. . . ] I561-E1-02 USER'S MANUAL SMARTSTEP 2 SERIES R88M-G@ (Servomotors) R7D-BP@ (Servo Drives) SERVOMOTORS/SERVO DRIVES Trademarks and Copyrights · Product names and system names in this manual are trademarks or registered trademarks of their respective companies. © OMRON, 2008 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. [. . . ] Not used. (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) Set the No. 1 overspeed detection level when torque limit switching is enabled in the Zero-speed Designation/Torque Limit Switch (Pn06). 2 torque limit when torque limit switching is enabled in the Zero-speed Designation/ Torque Limit Switch (Pn06). 2 deviation counter overflow level when torque limit switching is enabled in the Zero-speed Designation/Torque Limit Switch (Pn06). 2 overspeed detection level when torque limit switching is enabled in the Zero-speed Designation/Torque Limit Switch (Pn06). (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) 71 100 % --- 72 100 × 256 pulses --- 73 0 r/min 0 to 6000 ------------------------- --- 74 75 76 77 78 79 7A 7B 7C 7D 7E 7F 0 0 0 0 0 0 0 0 0 0 0 0 ------------------------- ------------------------- 5-31 5-10 User Parameters Parameter Details This section describes the user parameters in detail. Be sure to fully understand the meanings of the parameters and change them properly. Do not change settings of the parameters marked "Not used. " Function Selection Parameters Pn00 Setting range Unit No. Setting 1 to 15 Unit --Default setting 1 All modes Power OFF ON Yes Use this parameter to set the unit number. Pn01 Setting range Default Display 0 to 15 Unit Refer to the following table. Default setting 1 All modes Power OFF ON Yes 5 Explanation of Settings Setting 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Position deviation Servomotor rotation speed Torque output Control mode I/O signal status Alarm display and history Not used. Warning display Regeneration load ratio Overload load ratio Inertia ratio Total feedback pulses Total command pulses Displays overload and over regeneration warnings. Displays the load ratio as a percentage of the regeneration overload alarm operation level. Displays the load ratio as a percentage of the rated load. Displays the total number of pulses since the power supply was turned ON. Press the Data key for 5 s or longer to reset the value. Automatic Servomotor recognition display Automatic Servomotor recognition is always enabled. Explanation Displays the number of accumulated pulses in the deviation counter. Displays the Servomotor output torque as a percentage of the rated torque output. Displays the control mode, i. e. , position control or Internally Set Speed Control. Displays the status of control input and output signals connected to CN1. Displays the 14 most recent alarms, including current alarms. Unit Pulse r/min % ----------% % % Pulse Pulse ------- 5-32 Operating Functions Use this parameter to set the item to be displayed on the Parameter Unit when the power supply is turned ON. 5-10 User Parameters Pn02 Setting range Control Mode Selection 0 to 2 Unit --Default setting 2 All modes Power OFF ON Yes Set the control mode to be used. Explanation of Settings Setting 0 1 2 High-response Position Control Internally Set Speed Control Advanced Position Control Explanation Differences between High-response Position Control and Advanced Position Control 5 Notch Filter 1 Frequency (Pn1D) Vibration Frequency (Pn2B) High-response Position Control Advanced Position Control Realtime Autotuning Mode Selection (Pn21) Conditional Adaptive Filter Table Number Display(Pn2F) Disabled Operating Functions Conditional Conditional Enabled Enabled Enabled Enabled The Notch Filter 1 Frequency, Vibration Frequency, and Realtime Autotuning Mode Selection cannot be used at the same time in High-response Position Control Mode. [. . . ] 2-10 specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-62, 3-64 Servomotor Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9, 3-3, 3-41 Servomotor Power Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [. . . ]