Block Diagram For Fully-Closed Control Mode - Omron R88M-K User Manual

6 Basic Control Functions
6-6-3

Block Diagram for Fully-closed Control Mode

The following is a block diagram for fully-closed control using an R88D-KN
Drive.
607A hex
Position demand
Target position
value [command
[command units]
+
Generate
Position
Command
+
60B0 hex
Position offset
[command units]
606C hex
Velocity actual
value [command
units/s]
Electronic
gear reverse
conversion
60B2 hex
Torque offset
[0.1%]
Speed
Feed-forward
unit conversion
60B1 hex
Velocity offset
+
[command units/s]
-
6063 hex
Position actual
internal value
[external encoder
pulses]
Input setting
Type
Reverse
Phase Z
disabled
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.
6-22
6062 hex
Velocity Demand
Value [command
units/s]
units]
Gear ratio forward
conversion
Numerator
6091(01)
6091(02)
Denominator
60FC hex
Position demand
internal value
[encoder pulses]
60BA or 60BC hex
Touch probe pos
1/2 pos value
[command units]
Following error
actual value
6064 hex
[command units]
Position actual
value [command
units]
-
Control effort
Speed
[command units/s]
Feed-forward
Gain
3110
Filter
3111 +
+
Position
+
Control
+
3100
1
2 3105
Fully-closed Following
Motor Control
Error [external
Effort [r/min]
encoder pulses]
Motor Velocity Actual
Hybrid Following
Error [command
Value [r/min]
units]
Electronic
External Encoder
gear reverse
reverse dividing
conversion
Denominator
Numerator
- +
3323
Encoder Motor
3326
3327
External encoder
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Motor Velocity
Demand Value
[r/min]
Damping Control
Switch 3213
Selection
Smoothing
filter
Frequency
1 3214
FIR
3818
2 3216
First-order
3222
Lag
3218
3
3220 3221
4
60F4 hex
Value After Filtering
[command units/s]
Position Demand
Value After Filtering
[command units]
+
60FA hex
Torque
Feed-forward
Gain
3112
Filter
3113
Speed Control
Linear Integral
3101 3102
1
+
3106 3107
2
3004
Inertia Ratio
-
Speed Detection Filter
Speed Feedback Filter
3103
Time Constant 1
Speed Feedback Filter
3108
Time Constant 2
Function Expansion
3610
Setting
Speed detection
3325
3324
Current control
Response
3611
Setting
Main
power
supply
-ECT-Series Servo
Motor Velocity
Demand Value After
Filtering [r/min]
Gain Switching
Setting 2 Setting 3
Filter 3114
3215
Mode 3115
Ratio
3217
Delay Time 3116
3219
Level 3117
Hysteresis
3118
Swi t chi n g Ti m e 3119
Velocity Demand
Electronic
gear reverse
conversion
Friction
Compensation
+
Offset Value
3607
+
Forward
3608
Reverse 3609
Notch Filter
Frequency
+ +
1
3201
+ +
2
3204
3
3207
+
4
3210
Adapti v e Fi l t er Sel e cti o n
Disturbance Torque
Observer
Filter
3623
Gain
1
3624
Filter 2
Torque Limit
Selection
External 1
External 2
Forward
6074 or 6077 hex External
Reverse
Torque demand or
External
Torque actual value
Positive
[0.1%]
Negative
Max.
3605
3606
Width Depth
3202 3203
3205 3206
3208 3209
3211 3212
3200
3104
3109
3521
3013
3522
3525
3526
60E0
60E1
6072