Omron R88D-1SN ECT Series User Manual

6 - 9
6 Basic Control Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-2 Control Blocks
6
6-2-3 Block Diagram for Torque Control
The block diagram for torque control is given.
6-2-3 Block Diagram for Torque Control
6072
E
Velocity Limit in Torque Control
Velocity Limit Value
+
+
+
Notch Filter
Depth
Q-value
1st
2nd
3rd
4th
Frequency
Velocity Control
Proportional
Gain
Integral
Gain
Inertia Ratio
1st
2nd
6071 hex
Target torque
(0.1%)
60B2 hex
Torque offset
(0.1%)
3030-81 hex
Torque Command
Torque
(0.1%)
3031-01
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
-
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
Filter
3233-02
3234-02
Cutoff Frequency
1st
2nd
6077 hex
Torque actual value
(0.1%)
6074 hex
Torque demand
(0.1%)
Current
control
607F hex
Max profile velocity
(Command unit/s)
Sign
Velocity
Detection
60BA hex or 60BC hex
Touch probe 1/2 positive edge
(Command unit)
Filter Switching in Torque Control
Mode Selection
3232-01
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

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