Omron R88D-KN01L-ECT-L User Manual page 377

*1. The Motor Velocity Demand Value is the speed before the command input passes through the command filter
(smoothing filter or FIR filter). The Motor Velocity Demand Value After Filtering is the speed after the
command input passes through the command filter.
Command
input
*2. Read the word "torque" as "force."
*3. The Following error actual value is calculated for the command input after processing for the position
command filter. The Following Error Actual Internal Value is reversely converted to command units for
application.
The Following Error Actual Internal Value is the error for the position control input.
Following Error Actual Value [command unit]
Command
input
Current motor
position
[command unit]
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Internal Command
Motor Speed [mm/s]
Position
Electronic
command
gear
filter
Electronic
gear reverse
conversion
Position
Electronic
command
gear
filter
Electronic
gear reverse
conversion
11 Adjustment Functions
Filtered Internal Command
Motor Speed [mm/s]
+
-
External encoder data
Following Error Actual Internal Value
[external encoder units]
+
-
External encoder data
Position
control
Position
control
11 - 3
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