Omron R88D-KTA5L User Manual page 426

6-16 Feed-forward Function
Application Example of Analog Torque Feed Forward
The analog torque feed forward is enabled when bit 5 of the Function Expansion Setting
(Pn610) is set to 1. In addition, if analog input 3 is used by another function (for example,
analog torque limit), this function is disabled.
It is converted to torque from the voltage [V] that is applied to analog input 3 based on the
Analog Torque Feed-forward Gain Setting (Pn600) and is added to the torque command [%].
The conversion from the input voltage [V] to analog input 3 to a torque command [%] to the
motor is performed as illustrated in the graph below. The slope of the graph is when Pn600 =
30.The slope changes based on the Pn600 set value.
Torque command [%] = 100 × Input voltage [V] / (Pn600 set value × 0.1)
6
6-54
Torque command [%]
333
200
−10 −6
6 10
−200
−333
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Input voltage [V]