Block Diagram For Speed Control Mode - Omron R88D-KN series User Manual

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Block Diagram for Speed Control Mode

The following block diagram is for speed control using an R88D-KN-ECT-L-series Servo Drive.
60B2 hex
Torque offset
[0.1%]
60B1 hex
Velocity offset
[command units/s]
60FF hex
Target velocity
Speed unit
[command units/s]
conversion
+
+
606C hex
Velocity actual value
[command units/s]
6064 hex
Position actual value
[command units/s]
Electronic gear
reverse conversion
6091 (01)
Numerator
6092 (02)
Denominator
Input Settings
60BA or 60BC hex
Touch probe pos
Type
1/2 pos value
[command units]
Reverse
Phase-Z
Disabled
Note 1 Numbers within parentheses are sub-index numbers.
2 Numbers within boxes are hexadecimal index numbers.
3 Read the word "torque" as "force."
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Motor Control
Effort [mm/s]
Acceleration Limits
Acceleration 3312
Time
3313
Deceleration
Time
3314
S-curve
6063 hex
Position actual
internal value
[External encoder pulses]
Motor Velocity
Actual Value
External
Motor
Encoder
3323
3326
Motor Specifications
3327
3902
Pole Pitch
Encoder Specifications 3904
Mass
Resolution 3901 3905
Rated Force
Overspeed
3910 3906
Rated Current
level
Force feed forward
+
Gain 3112
Filter 3113
Speed Control
Linear Integral
1 3101 3102
+ +
2 3106 3107
Mass 3004
-
Speed Detection Filter
Speed Feedback Filter
3103
Time Constant 1
Speed Feedback Filter
3108
Time Constant 2
Function Expansion
3610
Setting
Speed detection
Current control
3912
Current Response
3913
Proportional
Objects Related to
3914 Magnetic Pole
Integral
position estimation
Magnetic
3920
Pole Detection
3907
Peak Current
3908
Phase Inductance
3909
Phase Resistance
3910
Overspeed level
6 Basic Control Functions
Gain Switching
Setting 2
Mode
Delay Time
Level
Hysteresis
Friction compensation
+
Offset Value
3607
Positive 3608
Negative 3609
Notch Filter
Frequency
+ +
1 3201
+
2 3204
3 3207
+
4 3210
Adaptive Filter
Selection
Force
Filter
Disturbance
1
Observer
2
Gain 3623
Two-stage
Filter 3624 Time
Two-stage
Attenuation
Force limit
Selection
6074 or 6077 hex
3922~3928
Torque demand or
Torque actual value
[0.1%]
Positive
Main
Negative
power
MAX
supply
3114
3120
3121
3122
3123
Width Depth
3202 3203
3205 3206
3208 3209
3211 3212
3200
3104
3109
3915
3916
6
3521
1 3013
2 3522
3 3525
4 3526
60E0
60E1
6072
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