Omron OMNUC G User Manual page 236

5-1 Position Control
Parameter Block Diagram for Position Control Mode
Speed
Command
Speed FF
[VFF]
MECHATRO
LINK-II
Generate
Position
Command
Target
Position
[TPOS]
MECHATRO
Target
LINK-II
Speed
[TSPD]
5
Command
Position
[IPOS]
Command
Speed
[CSPD]
Command
Position
[POS,
MPOS]
Feedback
Position
[AOPS/
LPOS]
Torque
Command
TRQ [%]
*1
Torque Limit PCL/NCL
5-3
Electronic
Gear
Pn205:
Numerator
Pn206:
Denominator
Pn10E:
Moving
Average
Position Deviation
[PERR]
Feedback Speed
[FSPD]
Torque Command [TRQ]
Notch Filter
Pn01D: Filter 1 Frequency
Pn01E: Filter 1 Width
Pn028: Filter 2 Frequency
Pn029: Filter 2 Width
Pn02A: Filter 2 Depth
Pn02F: Adaptive Filter
Torque Command Filter
Pn014: Filter
Pn01C: Filter 2
Vibration Filter
Pn02B:
Frequency 1
Speed FF
Pn02C:
Pn015:
Filter 1
FF Amount
Pn02D:
Pn016:
Frequency 2
Time
Pn02E:
Constant
Filter 2
Deviation
Counter
+
Pn010: No.1
Pn018: No.2
−
Speed Command
Monitor
Deviation
Monitor
Speed Monitor SP
Torque Limit
Pn003: Selection
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
Torque Monitor IM
Speed
PI Processor
Pn011:
Speed Gain 1
Pn012:
+
Integration
Time Constant 1
Pn019:
+
Speed Gain 2
+
Pn01A:
Integration
−
Time Constant 2
Pn020:
Inertia Ratio
Speed Detection Filter
Pn013: Filter 1
Pn01B: Filter 2
Receive
Encoder
Signal
Torque
+
PI
Processor
−
Current Feedback
*1
RE
SM