Omron OMNUC W Series User Manual page 318

Operation
Torque Feed-forward Function Block Diagram
Host Controller
Position command
H Parameters Requiring Settings
Parameter No.
Pn002.0 Torque
command input
switching
Pn400 Torque
command scale
Note The default setting is 30 (x 0.1 V / rated torque).
H Operation
REF
(speed command input)
TREF
(torque feed-forward input)
Servomotor output torque
Servomotor operation
Note 1. If torque feed-forward is input when the Servomotor's rotation speed is fixed, the rotation
speed won't match the speed command. Design the Controller's circuit so that torque feed-
forward is applied only when the Servomotor is accelerating or decelerating.
4-102
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
Torque feed-forward
Differ-
ential
Speed command
Parameter
name
Set Pn002.0 to 2 (use TREF as torque
feed-forward input)
Adjust the torque feed-forward amount. (See note.)
Torque com-
mand scale
Speed com-
mand scale
Encoder output
Encoder dividing rate
Explanation
Chapter 4
Servo Driver
Speed
loop
Current
Speed
detection
detection
Reference
4-4-4 Parameter
Details
Without the torque
feed-forward function
Without the torque
feed-forward function
Current
loop