Omron R88D-KT Series User Manual

5-6
5-1 Position Control
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5
Basic Control Mode
Parameter Block Diagram for Position Control Mode
Pn213 : Switching Selection 1 Pn214 : Frequency 1 Pn215 : Frequency 2 Pn216 : Frequency 3 Pn217 : Frequency 4 Pn218 : Filter 1 Pn219 : Filter 2 Pn220 : Filter 3 Pn221 : Filter 4
Pn101 : Speed Gain 1 Pn102 : Integral Time Constant 1 Pn106 : Speed Gain 2 Pn107 : Integral Time Constant 2 Pn004 : Inertia Ratio Pn612 : Switching Selection Pn613 : Inertia Ratio 2
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
Pn108 :
Speed Feedback Filter Time Constant 2
Pn610 : Function Expansion Setting
Encoder
Motor
Main power supply
+
+
+
+
+
+
+ +
−
−
+
−
Pn005 : Input Setting Pn006 : Rotation Direction Pn007 : Mode
Pn222 : FIR Pn223 : First-order Lag
Pn008 : 1 Rotation Pn009 : Numerator Pn010 : Denominator
Pn500 : Numerator 2 Pn501 : Numerator 3 Pn502 : Numerator 4
Pn110 : Gain Pn111 : Filter
Pn100 : Loop Gain 1 Pn105 : Loop Gain 2
Pulse train
Electronic gear setting
Pn011 :
1 Rotation
Pn012 : Reverse Numerator/Denominator Pn503 :
Denominator
Encoder pulse output
A B
Z
Pulse regeneration
Position control
Speed
feed-forward
Pn112 : Gain Pn113 : Filter
Torque feed
forward
Pn623 : Gain Pn624 : Filter
Disturbance observer
Pn607 : Offset value Pn608 : Forward Direction Pn609 : Reverse Direction
Friction compensation
Pn114 : Setting 2 Pn115 : Mode Pn116 : Delay Time Pn117 : Level Pn118 : Hysteresis Pn119 : Switching Time Pn605 : Setting 3 Pn606 : Ratio
Gain switching
Input condition setting
Smoothing filter
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
Speed control
Torque limit
Pn611 : Response Setting
Current control
Electronic gear reverse conversion
Torque filter
Speed detection filter
Speed detection
Command pulse accumulation
Position command error
Encoder position error
Speed control command
Motor speed
Torque command
Internal position command speed
Feedback pulse accumulation
+
Position command speed
Damping control

Omron R88D-KT Series Specifications

General

Brand	Omron
Model	R88D-KT Series
Category	Servo Drives
Language	English