Omron R88D-KN series User Manual page 339

3416 hex and
3418 hex set
value
16 to 19
20
21 to 22
*1 The Internal Command Motor Speed is the speed before the command input passes through the command
filter (smoothing filter or FIR filter). The Filtered Internal Command Motor Speed is the speed after the
command input passes through the command filter.
Command
input
*2 Read the word "torque" as "force."
*3 The position error is calculated for the command input after processing for the position command filter.
The pulse position error is reversely converted to command units for application.
The pulse position error is the error for the position control input.
Position Error [command units]
Command
input
Current motor position
[command units]
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Monitoring item
Reserved
Servo Drive Temperature
Reserved
Internal Command
Motor Speed [mm/s]
Position
Electronic
command
gear
filter
Electronic gear
reverse
conversion
Electronic
command
gear
Electronic gear
reverse
conversion
Description
Unit

C

Filtered Internal Command
Motor Speed [mm/s]
+
−
External encoder data
Pulse Position Error
[external encoder units]
+
Position
−
filter
External encoder data
11 Adjustment Functions
Output gain when 3417 hex
and 3419 hex are set to 0

10

Position
Control
Position
control
11
11-3