Omron R88D-KN ML2 Sries - Parameter Block Diagram for SPEED CONTROL Mode

5-5
5-2 Speed Control
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5
BASIC CONTROL Mode
Parameter Block Diagram for SPEED CONTROL mode
Pn104: Torque Filter 1 Pn109: Torque Filter 2
Pn521
: Torque Limit Selection
Pn013: No. 1 Torque Limit Pn522: No. 2 Torque Limit
Pn103: Speed Feedback Filter Time Constant 1 Pn108: Speed Feedback Filter Time Constant 2 Pn610: Function Expansion Setting
Encoder
Motor
Main power supply
+
+
+
+
+
+
−
Pn312:
Acceleration Time
Pn313:
Deceleration Time
Pn314:
S-curve
Acceleration and Deceleration Control
Pn623: Gain Pn624: Filter Disturbance observer
Pn607
: Offset Value
Pn608
:
Forward Direction
Pn609
:
Reverse Direction
Friction compensation
Pn114: Mode Selection Pn120: Mode Pn121: Delay Time Pn122: Level Pn123: Hysteresis
Gain switching
Pn200
:
Adaptive Filter Selection
Pn201: Frequency 1 Pn204: Frequency 2 Pn207: Frequency 3 Pn210: Frequency 4 Pn202: Notch 1 Width Pn205: Notch 2 Width Pn208: Notch 3 Width Pn211: Notch 4 Width Pn203: Notch 1 Depth Pn206: Notch 2 Depth Pn209: Notch 3 Depth Pn212: Notch 4 Depth
Notch filter
Pn101
: Speed Gain 1
Pn102
:
Integration Time Constant 1
Pn106
: Speed Gain 2
Pn107
:
Integration Time Constant 2
Pn004
: Inertia Ratio
Speed control
Torque limit
Pn611:
Response Setting
Current control
Torque filter
Speed detection filter
Speed detection
Speed control command
Motor speed
Torque command
Feedback pulse accumulation
Electronic Gear
Reverse Conversion
Pn009:
Numerator
Pn010:
Denominator
Forward Torque Limit Reverse Torque Limit
Torque Limit Unit
Conversion
Feedback Position
Feedback Latch Position
+
+
Torque FF Unit Conversion
Torque Feed-forward
Speed
Unit
Convension
Command Speed
Target Speed
Feedback Speed
Torque feed forward
Pn112: Gain Pn113: Filter