Omron R88M-K User Manual

6 Basic Control Functions
6-4
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
The following block diagram is for position control using an R88D-KN-ECT-series Servo Drive.
Note 1 Numbers within parentheses are sub-index numbers.
2 Numbers within boxes are hexadecimal index numbers.
3 Profile position mode (pp) and Homing mode (hm) are also included in this block diagram.
4 Profile position mode (pp) is supported for unit version 2.1 or later.
5 The electronic gear function is not supported for unit version 2.0. For the Servo Drives with unit version
2.0, set the electronic gear ratio to 1.1.
6-1-2 Block Diagram for Position Control Mode
3611
Speed
Feed-forward
Gain 3110
Filter 3111
6091(01)
6091(02)
FIR
3818
3222
+
−
Position
Control
1 3100
2 3105
+
+
1
3214
2
3216
3
3218
3215
3217
32 19
4
3220 3221
3213
+
−
3607
3608
3609
3623
3624
Setting 2
3114
Mode
3115
Delay Time
3116
Level
3117
Hysteresis
3118
Switching Time
3119
Setting 3
3605
Ratio
3606
3104
3109
3112
3113
+−
+
+
++
+
Notch Filter
3203
3206
3209
3212
Depth
3202
3205
3208
3211
Width
1 3201
2 3204
3 3207
4 3210
Frequency
Adaptive Filter Selection 3200
3102
3107
Linear Integral
Inertia Ratio
1 3101
2 3106
3004
+
+
+
+
607A hex
Target position
[command units]
6062 hex
Position demand
value [command
units]
Velocity Demand
Value [command
units/s]
Motor Velocity
Demand Value
[r/min]
Motor Velocity
Demand Value After
Filtering [r/min]
Gear ratio forward
conversion
Numerator
Denominator
Smoothing
filter
First-order
Lag
Damping Control
Switch
Selection
Frequency
Filter
Gain Switching
60FC hex
Position demand
internal value
[encoder pulses]
60BA or 60BC hex
Touch probe pos
1/2 pos value
[command units]
606C hex
Velocity actual
value [command
units/s]
6064 hex
Position actual value
[command units]
60F4 hex
Following error
actual value
[command units]
Position Demand
Value After Filtering
[command units]
Velocity Demand Value
After Filtering
[command units/s]
Electronic
gear reverse
conversion
Electronic
gear reverse
conversion
60B2 hex
Torque offset
[0.1%]
60B1 hex
Velocity offset
[command units/s]
60FA hex
Control effort
[command units/s]
Tor que
Feed-forward
Gain
Filter
Friction
compensation
Offset Value
Forward
Reverse
Speed
Feed-forward
unit conversion
Speed Control
Following Error Actual
Internal Value
[encoder pulses]
Motor Control
Effort [r/min]
6063 hex
Position actual
internal value
[encoder pulses]
Motor Velocity
Actual Value
[r/min]
Disturbance
Observer
Gain
Filter
1
2
Tor que
Filter
Speed detection
Encoder
Motor
Load
Current control
Response
Setting
Main
power
supply
6074 or 6077 hex
Torque demand or
Torque actual value
[0.1%]
3521
60E0
60E1
External 1
3013
External 2
3522
Forward
External
3525
Reverse
External
3526
Max. 6072
Selection
Tor que Li mi t
Positive
Negative
3103
3108
3610
Speed Detection Filter
Speed Feedback Filter
Time Constant 1
Speed Feedback Filter
Time Constant 2
Function Expansion
Setting
Generate
Position
Command
+
+
60B0 hex
Position offset
[command units]

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English