Omron R88D-KN series User Manual

6 Basic Control Functions
6-10
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
The following block diagram is for force control using an R88D-KN-ECT-L-series Servo Drive.
Note 1 Numbers within parentheses are sub-index numbers.
2 Numbers within boxes are hexadecimal index numbers.
3 Read the word "torque" as "force."
6-3-4 Block Diagram for Force Control Mode
Speed Limit
Selection
Command
selection
3317
Speed limit
Value
Setting
3321
Sign
Absolute
Absolute
Speed limit
unit conversion
3103
3108
3610
3203
3206
3209
3212
3202
3205
3208
3211
3201
3204
3207
3210
3102
3107
3101
3106
3004
Multiply
6091
(01)
6092
(02)
External
Encoder
Motor
Electronic gear
reverse conversion
Numerator
Denominator
3521
60E0
60E1
3013
3522
3525
3526
Speed Control
Inertia Ratio
6072
3114
3124
3125
3126
3127
Speed Detection Filter
−
Setting 2
Mode
Delay Time
Level
Hysteresis
+
Notch Filter
DepthWidth
1
2
3
4
Frequency
Proportional
Integral
+
+
Gain Switching
606C hex
Velocity actual
value [command
units/s]
60B2 hex
Torque offset
[0.1%]
607F hex Max.
profile velocity
[command units/s]
Speed detection
Main
power
supply
External 1
External 2
Forward
External
Reverse
External
Max.
Selection
Force Limit
Positive
Negative
Speed Feedback Filter
Time Constant 1
Speed Feedback Filter
Time Constant 2
Function Expansion
Setting
1
2
6071 hex Target
torque [0.1%]
6063 hex Position
actual internal value
[encoder pulses]
Speed Limit Value
[mm/s]
Motor Velocity
Actual Value
[mm/s]
3901
3910
3323
3326
3327
3902
3904
3905
3906
3907
3908
3909
3910
3922~3928
3912
3913
3914
3920
6074 or 6077 hex
60BA or 60BC hex
Touch probe pos
1/2 pos value
[command units]
6064 hex
Position actual value
[command units]
Encoder Specifications
Resolution
Overspeed level
Input Settings
Type
Reverse
Phase-Z Disabled
Motor Specifications
Rated Current
Peak Current
Phase
Inductance
Phase
Resistance
Overspeed
level
Pole Pitch
Rated Force
Current control
Current
Response
Magnetic Pole
Detection
Objects Related to
Magnetic Pole
position estimation
Proportional
Integral
Mass
Torque demand or
Torque actual value
[0.1%]
3915
Two-stage
Time
1
2
Force
Filter
3109
3916
Two-stage
Attenuation
3104

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English