Omron R88M-K User Manual page 477

3416 hex and
3418 hex set
value
16 to 18
19
20
21
*1 The Internal Command Motor Speed is the speed before the command input passes through the command
filter (the position command filter time constant and the smoothing filter time constant). The Filtered Internal
Command Motor Speed is the speed after the command input passes through the command filter.
Command
input
*2 The position error is calculated for the command input after processing for the position command filter. The
pulse position error or fully-closed position error is reversely converted to command units for application.
The pulse position error or fully-closed error is the error for the position control input.
Position Error [command units]
Command
input
Position actual value
[command units]
*3 The encoder temperature is indicated only for a 20-bit incremental encoder. The value is not stable for other
types of encoders.
*4 The direction of monitor data, either forward or reverse, is the direction set in the Rotation Direction Switching
(3000 hex). However, CCW is the forward direction for the absolute encoder 1-rotation data.
A normal value is output from the incremental encoder after the first phase Z.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Monitoring item
Reserved
*3
Encoder Temperature
Servo Drive Temperature
*4
Encoder 1-rotation Data
Internal Command
Motor Speed [r/min]
Position
Electronic
command
gear
filter
Electronic gear
reverse
conversion
Electronic
command
gear
Electronic gear
reverse
conversion
Description
Unit
−
°C
°C
pulses (encoder units)
Filtered Internal C ommand
Motor Speed [r/min]
+
−
Position actual internal
value [encoder
units/external encoder units]
(Encoder feedback/external
encoder feedback)
Pulse Position Error [encoder units]
/Fully-closed Error [external encoder units]
+
Position
filter −
Position actual internal value
[encoder units/external encoder units]
(Encoder feedback/external
encoder feedback)
11 Adjustment Functions
Output gain when 3417 hex
and 3419 hex are set to 0
−
10
10
110,000
Position
Control
Position
control
11
11-3