Omron R88D-1SN ECT Series User Manual

6 - 7
6 Basic Control Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-2 Control Blocks
6
6-2-2 Block Diagram for Velocity Control
The block diagrams for TDF velocity control and ODF velocity control are given.
6-2-2 Block Diagram for Velocity Control
TDF Velocity Control
E
+
+
+
+
Notch Filter
Depth
Q-value
1st
2nd
3rd
4th
Frequency
Velocity Control
Proportional
Gain
Integral
Gain
Inertia Ratio
1st
2nd
60FF hex
Target velocity
(Command unit/s)
60B1 hex
Velocity offset
(Command unit/s)
3020-82 hex
Velocity Command
Motor Velocity
(r/min)
Gain Switching in Velocity Control
Mode Selection
3222-01
606C hex
Velocity actual value
(Command unit/s)
3221-82 hex
Present Motor Velocity
(r/min)
6064 hex
Position actual value
(Command unit)
6063 hex
Position actual
internal value
(Encoder pulse)
3223-01
3223-02
3224-01 3224-02
3001-01
M
-
Torque Compensation
Viscous Friction Coefficient
Unbalanced Load Compensation
Positive Dynamic Friction
Compensation
Negative Dynamic Friction
Compensation
3310-01
3310-02
3310-03
3310-04
3321-02
3322-02
3323-02
3324-02
3321-03
3322-03
3323-03
3324-03
3321-04
3322-04
3323-04
3324-04
Adaptive Notch Filter
3320-01
Torque Command
Flter
3233-02
3234-02
Cutoff Frequency
1st
2nd
6077 hex
Torque actual value
(0.1%)
6074 hex
Torque demand
(0.1%)
Current
control
606B hex
Velocity demand value
(Command unit/s)
3220-82 hex
Internal Velocity
Command Motor Velocity
(r/min)
Velocity Command Filter
Acceleration Time
Deceleration Time
Velocity Command Filter
IIR Filter
Cutoff Frequency
3021-04
3021-01
3021-02
3020-83 hex
Motor Velocity After Velocity
Command Filtering
(r/min)
3020-92 hex
Velocity Command
Motor Velocity Deviation
(r/min)
Command Following Gain
3121-01
Command Following Gain 2
3121-11
Command Following Gain Selection
TDF Velocity Control
3121-10
60B2 hex
Torque offset
(0.1%)
3220-92 hex
Internal Velocity Command
Motor Velocity Deviation
(r/min)
Velocity
Detection
60BA hex or 60BC hex
Touch probe 1/2 positive edge
(Command unit)
+
++
+
+
+
-
Torque Limit
Switching Selection
Positive torque
limit value
3330-01
60E0
60E1
Positive Torque
Limit Value 2
Negative torque
limit value
Negative Torque
Limit Value 2
Max torque
3330-05
3330-06
6072

Omron R88D-1SN ECT Series Specifications

General

Feedback	Incremental encoder, Absolute encoder
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Communication Interface	EtherCAT
Power Supply Voltage	200 to 240 VAC
Output Power	0.1 to 1.5 kW
Input Voltage Range	170 to 264 VAC
Control Method	Sine-wave PWM control
Main Circuit Power Supply	200-240 VAC
Applicable Motor Capacity	0.1 to 1.5 kW
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overheating, Encoder Error
Ambient Operating Temperature	0 to 55°C
Vibration Resistance	4.9 m/s² (10 to 55 Hz)
Shock Resistance	98 m/s2
Weight	Varies by model