Omron R88D-1SN ECT Series User Manual

11 - 31
11 Adjustment Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
11-12 Feed-forward Function
11
11-12-2 Feed-forward Control in ODF Control
The feed-forward function that can be used in the ODF control comes in 2 types: velocity feed-forward
and torque feed-forward. In the ODF control, the responsiveness can be increased by changing these
feed-forward amounts.
The following are the feed-forward setting objects used in the ODF control.
Increase the value of ODF Velocity Feed-forward – Gain (3112-01 hex) little by little to adjust the gain
so that overshooting does not occur during acceleration/deceleration.
If you set ODF Velocity Feed-forward - Gain to 1,000 (100%), the calculated following error will be 0.
However, large overshooting may occur during acceleration/deceleration.
The following error in a constant velocity range gets smaller as you increase the velocity feed-forward
gain.
11-12-2 Feed-forward Control in ODF Control
ODF Control-related Objects
Index
(hex)
Subindex
(hex)
Name Description
Refer-
ence
3112
---
ODF Velocity
Feed-forward
Sets the velocity feed-forward in the one-degree-of-freedom
control.
P. 9 - 2 8
01 Gain Sets the velocity feed-forward gain. Normally, use the
default setting.
P. 9 - 2 8
02 LPF Enable Selects whether to enable or disable the low-pass filter in
the velocity feed-forward.
0: Disabled
1: Enabled
P. 9 - 2 8
03 LPF Cutoff Frequency Sets the cutoff frequency for the feed-forward low-pass filter. P. 9-28
3113
---
ODF Torque
Feed-forward
Sets the torque feed-forward in the one-degree-of-freedom
control.
P. 9 - 2 9
01 Gain Sets the torque feed-forward gain. Normally, use the default
setting.
P. 9 - 2 9
02 LPF Enable Selects whether to enable or disable the low-pass filter in
the torque feed-forward.
0: Disabled
1: Enabled
P. 9 - 3 0
03 LPF Cutoff Frequency Sets the cutoff frequency for the feed-forward low-pass filter. P. 9-30
Operating Method of ODF Velocity Feed-forward
Present Motor Velocity
Position Command – Motor Velocity
Following error
ODF Velocity FF Gain
0 [%]
50 [%]
80 [%]
Time

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