Omron R88D-KT50F - Page 370

5-35
5-6 Fully-closed Control
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5
Basic Control Mode
Parameter Block Diagram for Fully-closed 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
Pn011 : Numerator Pn503 : Denominator Pn012 : Reverse Pn620 :
Phase-Z Width
Pn622 :
Output Method
Pn103 :
Speed Feedback Filter Time Constant
Pn108 :
Speed Feedback Filter Time Constant 2
Pn610 : Function Expansion Setting
External
encoder
Pulse Output
EXA EXB
EXZ
Encoder
Motor
Main
power
supply
+
+
+
+
+
+
+
+ +
−
−
−
+
−
Pn005 : Input Setting Pn006 : Rotation Direction Pn007 : Mode
Pn222 : FIR Pn223 : First-order Lag
Pn008 : 1 Rotation Pn009 : Numerator 1 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
Damping control
External encoder
Pulse regeneration
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
Pn324: Numerator Pn325: Denominator
External encoder dividing
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
Pn323 : Type Pn326 : Reverse Pn327 : Phase Z disabled
Input Setting
Pn325 :
Denominator
Pn324 : Numerator
External encoder reverse dividing
Electronic gear
reverse conversion
Torque filter
Speed detection filter
Speed detection
External encoder
Command pulse accumulation
Position command error
Fully-closed error
Speed control command
Motor speed
Torque command
Internal position command speed
Total external encoder feedback pulses
+
Position command speed
Amount of internal/external
feedback pulse error