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

5-8
5-3 Torque Control
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5
BASIC CONTROL Mode
Parameter Block Diagram for TORQUE 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
Electronic Gear Reverse Conversion
Absolute
Code
Pn114: Mode Selection Pn124: Mode Pn125: Delay Time Pn126: Level Pn127: 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: Integral Time Constant 1 Pn106: Speed Gain 2 Pn107: Integral 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
−
+
Pn009:
Numerator
Pn010:
Denominator
Feedback Position, Feedback Speed, or Feedback Latch Position
Absolute
Pn317: Speed limit
Speed Control Command
Pn321: Limit Value
Speed Limit
Speed Limit Unit Convension
Speed Limit Value
Command Torque