Omron OMNUC G User Manual page 239

Parameter Block Diagram for Speed Control Mode
Speed Command
Speed FF [VFF]
Speed Command
Unit Conversion
MECHATRO Target Speed
LINK-II
[VREF/TSPD]
Command Speed
Monitor
[CSPD]
MECHATRO
LINK-II
Feedback Position
[AOPS/LPOS]
Feedback Speed
[FSPD]
Torque Command
Monitor
[TRQ]
CW Torque Limit
CCW Torque Limit
[PTLIM/NTLIM]
Torque Command
TRQ [%]
Notch Filter
Pn01D: Filter 1 Frequency
Pn01E: Filter 1 Width
Pn028: Filter 2 Frequency
*1
Pn029: Filter 2 Width
Pn02A: Filter 2 Depth
Pn02F: Adaptive Filter
Torque Command Filter
Pn014: Filter
Pn01C: Filter 2
Torque Limit PCL/NCL
Soft Start
Acceleration/
Deceleration
Pn058: Acceleration
Pn059: Deceleration
Speed Command
Electronic Gear
Pn205: Numerator
Pn206: Denominator
Speed Monitor SP
Torque Limit
Pn003: Selection
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
Torque Monitor IM
5-2 Speed Control
Speed
PI Processor
Pn011:
Speed Gain 1
Pn012:
Integration
Time Constant 1
Pn019:
Speed Gain 2
+
Pn01A:
Integration
−
Time Constant 2
Pn020:
Inertia Ratio
Monitor
Speed Detection Filter
Pn013: Filter 1
Pn01B: Filter 2
Receive
Encoder
Signal
Torque
+
PI
Processor
−
Current Feedback
5
*1
RE
SM
5-6