Omron R88D-GT series User Manual

5-10
5-4 Torque Control
5
Operating Functions
Parameter Block Diagram for Torque Control Mode
*1
*1
SM
RE
+
−
+
−
To r que Input Setting
Pn5C: Torque Scale
Pn5D: Output Direction
(Pn52: Offset)
(Pn57: Filter Time
Constant)
Sign
(±)
Internally Set
Speed Limit
Pn56: Speed Limit
To r que
Limit
To r que Command
TREF1/
TREF2
Speed Limit
VLIM
X
Speed Command
Monitor
Actual Speed
Monitor
Torque Command
Monitor
Speed PI Processor
Pn11: Speed Gain 1
Pn12: Integration Time
Constant 1
Pn19: Speed Gain 2
Pn1A: Integration Time
Constant 2
Pn20: Inertia Ratio
Notch Filter
Pn1D: Filter 1 Frequency
Pn1E: Filter 1 Width
Pn28: Filter 2 Frequency
Pn29: Filter 2 Width
Pn2A: Notch Filter 2 Depth
Pn2F: Adaptive Filter
Torque Command/Limit
Pn14: Filter
Pn1C: Filter 2
Pn5E: No.1 Torque Limit
Pn5F: No.2 Torque Limit
Divider Setting
Pn44: Numerator
Pn45: Denominator
Pn46: Direction
Switch
Speed Detection Filter
Pn13: Filter 1
Pn1B: Filter 2
Phase A, B, Z
Torque
PI
Processor
Current Feedback
Receive
Encoder
Signal

Omron R88D-GT series Specifications

General

Brand	Omron
Model	R88D-GT series
Category	Controller
Language	English