Omron R88D-KN series User Manual

9 Servo Parameter Objects
9-22
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
• First set Damping Frequency 4 (3220 hex). Then reduce the setting if torque saturation occurs or
increase the setting to increase operation speed. Normally, use a setting of 0.
• The upper limit of the set value is restricted to the smaller value of the corresponding damping
frequency or (2000  damping frequency).
Refer to 11-5 Damping Control on page 11-16.
• The Position Command Filter Time Constant is the first-order lag filter that is inserted after the
electronic gear ratio for the command input.
• This constant is used to reduce the stepping movement of the motor to achieve a smooth operation
when the electronic gear ratio is set to 10 times or greater.
• It sets the first-order lag filter time constant, as shown below, for the square-wave command of target
speed Vc.
*1 The error in the position command filter time constant is 0.4 max. (absolute error) for less than 100 ms and
0.2% max. (relative error) for 20 ms or greater for the set value times 0.1 ms.
*2 The Position Command Filter Time Constant (3222 hex) is switched when the position command value per
0.250 ms changes from 0 to a value other than 0 while the positioning completed output is ON.
*3 There is a delay from when the Position Command Filter Time Constant (3222 hex) is changed until the new
value is applied in internal calculations. If the filter switch wait time expires during this delay, the change may
be placed on hold.
Precautions for Safe Use
If a large Position window is set, decreasing the Position Command Filter Time Constant may
cause a sudden motor movement immediately after switching.
This occurs due to the pulses accumulated in the filter at the time of switching, which are
distributed rapidly after switching to restore the normal position.
Be careful as the motor may temporarily move faster than the expected command speed.
3221 hex
Damping Filter 4 Setting
Setting range 0 to 1000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3222 hex
Position Command Filter Time Constant
Setting range 0 to 10000 Unit 0.1 ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
pp
hm
csp
pp
hm
t
f
= (3222 hex
*3
× 0.1 ms)
Input position command
t
f
Position command after
the smoothing filter process
t
f
Filter switching
dwell time
*2
Time
Speed
Target speed Vc
Vc × 0.632
*1
Vc × 0.368
*1

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English