Parameter Block Diagram For Position Control Mode - Omron SMARTSTEP 2 R88M-G Series User Manual

5-1 Position Control

Parameter Block Diagram for Position Control Mode

Command Pulse Input
Conditions Setting
Pn40: Command Pulse
Multiplying Setting
Pn41: Command Pulse
CW
Rotation Direction
Switch
CCW
Pn42: Command Pulse
Mode
Pn15: Feed-forward
5
Vibration Filter
Pn2B: Vibration Frequency
Pn2C: Vibration Filter
Setting
Speed Command
Monitor
Dividing Rate Setting
Phase
Pn44: Encoder Dividing
A, B, Z
Pn45: Encoder Output
Notch Filter
Pn1D: Notch Filter 1
Pn1E: Notch Filter 1
*1
(Pn2F: Adaptive Filter
5-3
Pn4E:
Smoothing
Filter
Setting
Pn16: Feed-forward
Amount
Command Filter
Deviation Counter
+
Pn10: Position Loop Gain
−
Pn18: Position Loop Gain 2
Rate Setting
Direction Switch
Torque Command Filter
Frequency
Pn14: Torque Command
Filter Time Constant
Width
Pn1C: Torque Command
Filter Time Constant 2
Table Number
Pn5E: Torque Limit
Display)
Pn71: No.2 Torque Limit
Electronic Gear Setting
Pn46: Electronic Gear
Ratio Numerator 1
Pn47: Electronic Gear
Ratio Numerator 2
Pn4A: Electronic Gear
Ratio Numerator Exponent
Pn4B: Electronic Gear
Ratio Denominator
+
+
Position
Deviation
Monitor
Speed Detection
Pn13: Speed Feedback
Filter Time Constant
Pn1B: Speed Feedback
Speed Monitor
Filter Time Constant 2
Torque Command
Monitor
+
−
Pn4C:
Position Command
Filter Time Constant
Setting
Speed PI Processor
Pn11: Speed Loop Gain
Pn12: Speed Loop
Integration
+ Time Constant
Pn19: Speed Loop Gain 2
−
Pn1A: Speed Loop
Integration
Time Constant 2
Pn20: Inertia Ratio
Receive
Encoder
Signal
Torque PI
Processor
Current Feedback
*1
RE
SM