Omron R88M-K - Page 340

6 Basic Control Functions
6-10
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
The following block diagram is for torque control using an R88D-KN-ECT-series Servo Drive.
Note 1 Numbers within parentheses are sub-index numbers.
2 Numbers within boxes are hexadecimal index numbers.
3 The electronic gear function is not supported for unit version 2.0. For the Servo Drives with unit version
2.0, set the electronic gear ratio to 1.1.
6-3-4 Block Diagram for Torque Control Mode
3611
Speed Limit
Selection
Command
selection
3317
Speed limit
Value
Setting
3321
Sign
Absolute
Absolute
Speed limit
unit conversion
3104
3109
3103
3108
3610
3203
3206
3209
3212
3202
3205
3208
3211
3201
3204
3207
3210
3102
3107
3101
3106
3004
Multiply
6091
(01)
6092
(02)
Encoder
Motor
Electronic gear
reverse conversion
Numerator
Denominator
3521
60E0
60E1
3013
3522
3525
3526
Speed Control
Inertia Ratio
Load
6072
3114
3124
3125
3126
3127
Speed Detection Filter
−
Setting 2
Mode
Delay Time
Level
Hysteresis
+
Notch Filter
DepthWidth
1
2
3
4
Frequency
Linear Integral
+
+
Gain Switching
606C hex
Velocity actual
value [command
units/s]
6064 hex
Position actual value
[command units]
60B2 hex
Torque offset
[0.1%]
60BA or 60BC hex
Touch probe pos
1/2 pos value
[command units]
607F hex Max.
profile velocity
[command units/s]
1
2
Torque
Filter
Speed detection
Current control
Response
Setting
Main
power
supply
6074 or 6077 hex
Torque demand or
Torque actual value
[0.1%]
External 1
External 2
Forward
External
Reverse
External
Max.
Selection
Torque Limit
Positive
Negative
Speed Feedback Filter
Time Constant 1
Speed Feedback Filter
Time Constant 2
Function Expansion
Setting
1
2
6071 hex Target
torque [0.1%]
6063 hex Position
actual internal value
[encoder pulses]
Speed Limit Value
[r/min]
Motor Velocity
Actual Value
[r/min]