Omron R88M-K User Manual

6 Basic Control Functions
6-22
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
The following is a block diagram for fully-closed 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.
6-6-3 Block Diagram for Fully-closed Control Mode
+
-
3100
3105
+
++
-
3623
3624
3104
3109
3611
+
+
++
+
3203
3206
3209
3212
3202
3205
3208
3211
3201
3204
3207
3210
3200
3102
3107
3101
3106
3004
3323
3326
3327
3325
3324
+-
6091(01)
6091(02)
3818
3222
3218
3118
3217
3219
3220 3221
+
-
3607
3608
3609
3112
3113
3110
3111
+
+
3213
3214
3216
3215
3119
3605
3606
3114
3115
3116
3117
External encoder
+
+
Speed
Feed-forward
Gain
Filter
FIR
Position
Control
1
2
1
2
3
4
Setting 2
Mode
Delay Time
Level
Hysteresis
Switching Time
Setting 3
Ratio
Notch Filter
DepthWidth
1
2
3
4
Frequency
Adaptive Filter Selection
Linear Integral
Inertia Ratio
1
2
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
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]
Torque
Feed-forward
Gain
Filter
Friction
Compensation
Offset Value
Forward
Reverse
Speed
Feed-forward
unit conversion
Speed Control
Fully-closed Following
Error [external
encoder pulses]
Motor Control
Effort [r/min]
6063 hex
Position actual
internal value
[external encoder
pulses]
Motor Velocity Actual
Value [r/min]
Disturbance
Observer
Gain
Filter
1
2
Torque
Filter
Speed detection
Encoder
Motor
Current control
Response
Setting
Main
power
supply
6074 or 6077 hex
Torque demand or
Torque actual value
[0.1%]
Electronic
gear reverse
conversion
Hybrid Following
Error [command
units]
Input setting
Type
Reverse
Phase Z
disabled
External Encoder
reverse dividing
Denominator
Numerator
60FC hex
Position demand
internal value
[encoder pulses]
3103
3108
3610
Speed Detection Filter
3521
60E0
60E1
3013
3522
3525
3526
6072
External 1
External 2
Forward
External
Reverse
External
Max.
Selection
Torque Limit
Positive
Negative
Speed Feedback Filter
Time Constant 1
Speed Feedback Filter
Time Constant 2
Function Expansion
Setting
607A hex
Target position
[command units]
+
+
Generate
Position
Command
60B0 hex
Position offset
[command units]

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English