Operation Example - Omron R88M-K User Manual

7 Applied Functions
Gear ratio Setting (6091-01 and 6091-02 Hex)
Motor
revolutions
(6091-01 hex)
0
1 to
1073741824
*1 The encoder resolution is set as the numerator for fully-closed control.
Precautions for Correct Use Precautions for Correct Use
• To make the position command smoother after the electronic gear setting, adjust it by using
the Position Command Filter Time Constant (3222 hex) or by the Position Command FIR Filter
Time Constant (3818 hex).
7-6-2

Operation Example

The example uses a motor with a 20- bit encoder (1,048,576 pulses per rotation)
When the Motor Revolutions (6091-01 Hex) Is Set to 0
• If you set 6091-02 hex to 2,000, the operation is the same as the 2,000 (pulses/rotation) Servomotor.
2,000 pulses
7-22
Shaft
revolutions
(6091-02 hex)
1 to When the Motor revolutions (6091-01 hex) is 0, the processing changes with the
1073741824 set value of Shaft revolutions (6091-01 hex).
Position command
Position command = Encoder resolution/Shaft revolutions (6091-02 hex)
When the Motor revolutions (6091-01 hex) is not 0, the processing changes with
the set values of Motor revolutions (6091-01 hex) and Shaft revolutions
(6091-02 hex).
Position command
Position command = Motor revolutions (6091-01 hex) / Shaft revolutions
(6091-02 hex)
Encoder resolution
Shaft revolutions (6091-02 hex)
1,048,576
=
2000
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Description
Encoder resolution
Shaft revolutions (6091-02 hex)
Motor revolutions
(6091-01 hex)
Shaft revolutions (6091-02 hex)
Servo Drive
1,048,576 pulses
Position command
*1
Position command
Servomotor
encoder resolution: 20 bits
1-rotation (1,048,576 pulses)