Omron R88M-1M Series User Manual page 470

6 Basic Control Functions
ODF Position Control
6062 hex
607A hex
Position demand
Target position
value
(Command unit)
(Command unit)
+
+
+
60B0 hex
Position offset
-
(Command unit)
60B2 hex
Torque offset
(0.1%)
60B1 hex
Velocity offset
(Command unit/s)
3210-81 hex
Internal Position
Command - Position
(Command unit)
3210-84 hex
Internal Position Command
Motor Velocity
(r/min)
+
60BA hex or 60BC hex
Touch probe 1/2 positive edge
(Command unit)
6064 hex
Position actual value
(Command unit)
6063 hex
Position actual
internal value
(Encoder pulse)
6 - 6
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
60FC hex
3010-83 hex
Position demand
Position Command
internal value
Velocity
(Command unit/s) (Encoder pulse)
Gear ratio Position Command Filter Position Command Filter
FIR Filter IIR Filter
Shaft
6091-01
Moving Average Time Cutoff Frequency
revol u ti o ns
Motor
3011-02 3011-04
6091-02
revol u ti o ns
3010-91 hex
Position Command
Following Error
(Command unit)
ODF Velocity Feed-forward
3112-01
Gain
LPF Cutoff Frequency
3112-03
606B hex
Velocity demand value
(Command unit/s)
60FA hex
Control effort
(Command unit/s)
3220-82 hex
Internal Velocity Command
Motor Velocity
+ +
+ +
Position Control
Proportional Gain
-
1st 3213-01
2nd 3214-01
606C hex
Velocity actual value
60F4 hex
(Command unit/s)
Following error
actual value
3221-82 hex
(Command unit)
Present Motor Velocity
3210-92 hex
(r/min)
Following Error Actual
Internal Value
(Encoder pulse)
3010-84 hex
Position Command
Motor Velocity After Position
Motor Velocity
Command Filtering (r/min)
(r/min)
Damping Filter 1
Filter selection 3012-01
Damping Time
Frequency
Coefficient
3013-02
1st 3013-01
3013-04
2nd 3013-03
3013-06
3rd 3013-05
3013-08
4th 3013-07
ODF Torque Feed-forward
3113-01
Gain
LPF Cutoff Frequency
3113-03
(r/min)
Velocity Control
Proportional Integral
+
Gain Gain
+
+
1st 3223-01 3223-02
-
3224-01 3224-02
2nd
Inertia Ratio 3001-01
6077 hex
Torque actual value
Velocity
(0.1%)
detection
E
M
3010-85 hex 3010-86 hex
Motor Velocity After
Damping Filtering
(r/min)
Damping Filter 2
Filter selection
3012-02
Damping Time
Frequency
Coefficient
1st 3014-01 3014-02
3014-03 3014-04
2nd
3rd 3014-05 3014-06
4th 3014-07 3014-08
Gain Switching in Position Control
Mode Selection
Delay Time
Speed
Time
Torque Compensation
Unbalanced Load Compensation 3310-02
Positive Dynamic Friction
3310-03
Compensation
Negative Dynamic Friction
3310-04
Compensation
Notch Filter
+
+
Frequency Q-value Depth
+ +
1st 3321-02 3321-03 3321-04
2nd 3322-02 3322-03 3322-04
3323-02 3323-03 3323-04
3rd
3324-02 3324-03 3324-04
4th
Adaptive Notch Filter 3320-01
Torque Limit
Switching Selection
6074 hex
Positive torque
Torque demand
limit value
Negative torque
(0.1%)
limit value
Positive Torque
Limit Value 2
Negative Torque
Current
Limit Value 2
control
Max torque
3212-01
3212-02
3212-03
3212-04
Torque Command
Filter
Cutoff Frequency
3233-02
1st
2nd 3234-02
3330-01
60E0
60E1
3330-05
3330-06
6072