System Functions; Servo Driver Control - Omron R88A-MCW151-DRT-E Operation Manual

System Functions

! C a u t i o n
3-3

System Functions

3-3-1

Servo Driver Control

Speed Control
When the parameter has been set, a power down or software reset (using
DRV_RESET) must be performed for the complete system. Not doing so may
result in undefined behaviour.
This section explains all different functions of the MC Unit. The BASIC com-
mands, functions and parameters can also be found in SECTION 6 BASIC
Motion Control Programming Language.
The Speed Control mode is the main operation of the motion controller. The
speed control mode enables all different speed profiles determined by the
motion commands and possibly input encoder data. For an overview of the
available motion control commands which can be used, refer to 6-2-1 Motion
Control Commands.
For setting up a Motion Application with Speed Control, use one of the follow-
ing settings in the Servo Driver.
Param- Parameter Name
eter No.
Pn000.1 Control Mode
Selection
The following BASIC parameters need to be considered to set up the applica-
tion in the MC Unit.
Parameter
WDOG The WDOG parameter is the software switch used to control the
Driver's Servo ON input, which enables the driver.
SERVO The SERVO parameter determines whether the base axis runs
under position control (ON) or open loop (OFF). When in open
loop the output speed reference voltage is determined by the
S_REF parameter.
S_REF The S_REF parameter contains the speed reference value which
is applied to the Servo Driver when the base axis is in open loop.
P_GAIN The P_GAIN parameter contains the proportional gain for the
axis.
I_GAIN The I_GAIN parameter contains the integral gain for the axis.
D_GAIN The D_GAIN parameter contains the derivative gain for the axis.
VFF_GAIN The VFF_GAIN parameter contains the speed feed forward gain
for the axis.
OV_GAIN The OV_GAIN parameter contains the output speed gain for the
axis.
Required Explanation
Setting
0 Speed Control
9 Torque / Speed Control
Description
Section 3-3
47