Block Diagram For Torque Control - Omron R88M-1M Series User Manual

6-2-3

Block Diagram for Torque Control

The block diagram for torque control is given.
6071 hex
Torque Command
Target torque
(0.1%)
+
+
60B2 hex
Torque offset
(0.1%)
607F hex
Max profile velocity
(Command unit/s)
Velocity Limit in Torque Control
Velocity Limit Value 3031-01
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
3030-81 hex
Torque
(0.1%)
Sign
+
-
606C hex
Velocity actual value
(Command unit/s)
3221-82 hex
Present Motor Velocity
(r/min)
60BA hex or 60BC hex
Velocity
Touch probe 1/2 positive edge
Detection
(Command unit)
6064 hex
Position actual value
(Command unit)
6063 hex
Position actual
internal value
(Encoder pulse)
6 Basic Control Functions
Notch Filter
Velocity Control
Proportional Integral
Q-value
Frequency
Gain Gain
1st 3223-01 3223-02 3321-02 3321-03
1st
2nd 3224-01 3224-02
3322-02 3322-03
2nd
Inertia Ratio
3001-01 3323-02 3323-03
3rd
4th 3324-02 3324-03
Adaptive Notch Filter 3320-01
Current
E
M
control
6077 hex
Torque demand
Torque actual value
(0.1%)
Filter Switching in Torque Control
Mode Selection
3232-01
Torque Command
Filter
Cutoff Frequency
Depth
3321-04 3233-02
1st
3322-04 3234-02
2nd
3323-04
3324-04
Torque Limit
Switching Selection
3330-01
Positive torque
60E0
limit value
Negative torque
60E1
limit value
Positive Torque
3330-05
Limit Value 2
Negative Torque
3330-06
Limit Value 2
Max torque
6072
6074 hex
(0.1%)
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