Fully-Closed Control - Omron OMNUC W Series Manual

8 Servo Driver Settings

8.2.3 Fully-closed Control

8.2.3 Fully-closed Control
8
A fully-closed loop can be formed using the parameter settings on the W-series Servo
Driver. In previous Servo Drivers, a semi-closed method was used to control the motor, but
with this function even more precise control is achieved because control involves the detec-
tion of the position and speed of actual machine operation.
Fully closed control
Torque
Servomotor
Load torque
Detection
Current
current
Parameters must be set when using fully-closed control. Refer to Parameter Settings for the
Fully-closed System on page 8-11.
Fully-closed System Specifications
This section describes the fully-closed system specifications of the W-series Servo Driver
when a DeviceNet Unit is mounted.
Fully-closed Encoder Pulse Output Form
5-V Differential line driver output (complies with EIA Standard RS–422A)
Fully-closed Encoder Pulse Signal Form
90° Phase difference 2-phase differential pulse: phase A, phase B
Maximum receivable frequency for Servo Driver: 1 Mbit/s
Phase A
Phase B
t1 t2 t3
Forward rotation
8-10
Mechanism in-
cluding backlash
and friction
Controlled machine
t1, t2, t3, t4 ≥ 0.2 µs
t4
Speed and
position at the
Power
machine end
Speed,
position
Reverse rotation