Omron R88M-K - Operation Example

7 Applied Functions
7-22
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
*1 The encoder resolution is set as the numerator for fully-closed control.
Precautions for Correct UsePrecautions for Correct Use
• To make the position command smoother after the electronic gear setting, adjust it by using
the Position Command Filter Time Constant (3222 hex) or by the Position Command FIR Filter
Time Constant (3818 hex).
The example uses a motor with a 20- bit encoder (1,048,576 pulses per rotation)
• If you set 6091-02 hex to 2,000, the operation is the same as the 2,000 (pulses/rotation) Servomotor.
Gear ratio Setting (6091-01 and 6091-02 Hex)
Motor
revolutions
(6091-01 hex)
Shaft
revolutions
(6091-02 hex)
Description
0 1 to
1073741824
When the Motor revolutions (6091-01 hex) is 0, the processing changes with the
set value of Shaft revolutions (6091-01 hex).
Position command = Encoder resolution/Shaft revolutions (6091-02 hex)
1 to
1073741824
When the Motor revolutions (6091-01 hex) is not 0, the processing changes with
the set values of Motor revolutions (6091-01 hex) and Shaft revolutions
(6091-02 hex).
Position command = Motor revolutions (6091-01 hex) / Shaft revolutions
(6091-02 hex)
7-6-2 Operation Example
When the Motor Revolutions (6091-01 Hex) Is Set to 0
Position command
Encoder resolution
*1
Shaft revolutions (6091-02 hex)
Position command
Position command
Motor revolutions
(6091-01 hex)
Shaft revolutions (6091-02 hex)
Position command
Encoder resolution
Shaft revolutions (6091-02 hex)
1,048,576
2000
=
Servo Drive
1,048,576 pulses
2,000 pulses
Servomotor
encoder resolution: 20 bits
1-rotation (1,048,576 pulses)