Speed Control (Speed) - Omron R88M-W User Manual

Operation
H Related Functions
• The main functions related to position control that can be used during position control are as follows:
Function name
Position command filter function
Torque feed-forward function
Speed feed-forward function
Feed-forward function
Bias function
Torque limit function
Gain reduction function
P control switching function
4-5-2

Speed Control (Speed)

H Function
• Performs Servomotor speed control using analog voltage input from the speed command (REF:
CN1-5, 6). You can also perform position control by combining speed control with the controller
mounted to the position control function.
• You can change the relationship between the speed command and the rotation speed by setting the
speed command scale (Pn300).
Controller
(analog voltage output type)
Motion Control Unit
CS1W-MC221/421(-V1)
CV500-MC221/421
C200H-MC221
Position Control Unit
C500-NC222
4-74
Sets the soft start for the command pulse.
Calculates TREF (torque command input) for the
current loop to reduce positioning time.
Calculates REF (speed command input) for the
current loop to reduce positioning time.
Calculates command pulse differential for the speed
loop to reduce positioning time.
Calculates number of bias rotations for the speed loop
to reduce positioning time.
Limits the Servomotor's torque output.
Switches speed loop command from PI control to P
control by inputting a MING (gain reduction) signal to
lower servo rigidity.
Switches the speed control loop automatically from PI
control to P control to lower servo rigidity. (Switching
conditions can be selected.)
OMNUC W-series Servo Driver
Analog voltage
(speed command)
Explanation
Speed Control Mode
Speed command
scale (Pn300)
r/min.
V
Chapter 4
Reference
4-5-13 Position
Command Filter
Function
4-8-3 Torque
Feed-Forward
Function
4-8-4 Speed
Feed-forward
Function
4-8-2
Feed-forward
Function
4-8-1 Bias
Function
4-5-10 Torque
Limit Function
4-5-9 Gain
Reduction
4-8-10 P
Control
Switching
OMNUC W-series
Servomotor