Related Functions; Block Diagram For Force Control Mode - Omron R88L-EC Series User Manual

6 Basic Control Functions
6-3-3

Related Functions

Index Name
3321 hex Speed Limit Value Setting
6-3-4

Block Diagram for Force Control Mode

The following block diagram is for force control using an R88D-KN-ECT-L-series Servo Drive.
60B2 hex
Torque Offset
[0.1%]
6071 hex
Target Torque
[0.1%]
Speed Limit
Value
3321
Setting
Speed Limit
Selection
607F hex
Command
Max. Profile Velocity
selection
[command unit/s]
Speed Limit
Unit Conversion
606C hex
Velocity Actual Value
[command unit/s]
Electronic Gear
Reverse Conversion
Numerator 6091 (01)
Denominator 6092 (02)
Input Settings
60BA or 60BC hex
Type 3323
Touch Probe Pos 1/2 Pos Value
[command unit] Reverse 3326
Phase-Z
3327
Disabled
6064 hex
Position Actual Value
[command unit]
Note 1 Numbers within parentheses are sub-index numbers.
2 Numbers within boxes are hexadecimal index numbers.
3 Read the word "torque" as "force."
6 - 10
Set the speed limit value for force control. During force control,
the speed is controlled so as not to exceed the level set by the
speed limit value.
+
+
Sign
Speed Limit
[mm/s]
Absolute
3317
Multiply
Speed Feedback
Filter Time Constant 1
6063 hex
Speed Feedback
Position Actual Internal Value Filter Time Constant 2
[encoder pulses]
Function Expansion Setting
Motor Velocity
Actual Value
[mm/s]
External
Motor
Encoder
Motor Specifications
Pole Pitch 3902
Mass 3904
Encoder Specifications
Rated Force 3905
Resolution 3901
Rated Current 3906
Overspeed
3910
level
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Description
Absolute
Value
Speed Control
+
1
2
-
Inertia Ratio
Speed Detection Filter
3103
3108
3610
Speed Detection
Current Control
Current
3912
Response Objects Related
3913
Proportional
3914
Integral
Magnetic Pole
Peak Current 3907
3920
Detection
Phase Inductance 3908
Phase Resistance 3909
Overspeed level 3910
Reference
Gain Switching
Setting 2
Mode
Delay Time
Level
Hysteresis
Notch Filter
Frequency
Proportional Integral
1 3201
3101 3102
2 3204
3106 3107
3 3207
3004
4 3210
Force Filter
1
2
Two-stage
Time
Two-stage
Attenuation
Force Limit
Selection 3521
1 3013
to Magnetic
2 3522
Pole Position
3 3525
Estimation
4
3526
3922 to 3928
Positive 60E0
Negative 60E1
Main Power
MAX 6072
Supply
6074 or 6077
Torque Demand or
Torque Actual Value
[0.1%]
P. 9-26
3114
3124
3125
3126
3127
Width Depth
3202 3203
3205 3206
3208 3209
3211 3212
3104
3109
3915
3916