Omron OMNUC G5 R88M-K series User Manual page 353

Pn416
and
Pn418
set value
13 Reverse direction torque limit
14 Speed limit value
15 Inertia ratio
16 to 18 Reserved
19 Encoder temperature
20 Servo Drive temperature
21 Encoder 1-rotation data
*1.The Position command 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 internal
command speed is the speed after the command input passes through the command filter.
Command
input
*2.The position command error is an error on the command input. The encoder position error and the full
closing position error are the error of the input section of the position control.
Each of position error and feedback pulse error is expressed in 2 types of units: Encoder unit and
command unit for position errors, and external encoder unit and command unit for feed back pulse
errors. The encoder unit and the external encoder unit are for the errors of the position control input
sections, while the command unit is for the error of command pulse inputs.
Position command error (command unit) or
Command feedback pulse error (command unit)
Command
input
*3.The encoder temperature is indicated only for the 20-bit incremental encoder. The value is not settled
for other types of encoders.
*4.Directions of monitor data, either forward or reverse, is the direction set in the Rotation Direction
Switching (Pn000). 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.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Monitoring item
%
r/min
%

*3
C
C
*4
pulse (encoder unit)
Position command
speed [r/min]
Position
Electronic
command
gear
filter
Electronic gear
reverse
conversion
Position
Electronic
command
gear
10-1 Analog Monitor
Description
Output gain when Pn417
Unit
Internal command
speed [r/min]
+
−
Encoder position error (encoder unit) or
Full closing error (external encoder unit)
+
filter
−
Encoder feedback/external
encoder feedback
and Pn419 are set to 0
33
500
500

10
10
110000
Position
Control
Encoder feedback/external
encoder
Position
control
10-2
10