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

6 Basic Control Functions
6-3-4

Block Diagram for Force Control Mode

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