Omron R88M-K - A-1-4 Modes of Operation and Applied Functions

Appendices
A-6
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Note For unit version 2.0, the electronic gear ratio can be set only to 1:1. A Function Setting Error (Error No. 93.4)
does not occur even when a value other than 1:1 is set.
Profile position mode (pp) and an object 1600 hex are supported for unit version 2.1 or later.
Additional Information
For functional differences between unit versions, refer to A-5 Functional Differences among Unit
Versions on page A-169.
The relationships between the modes of operation of G5-series Servo Drives with built-in EtherCAT
communications and the application functions are shown below.
: Supported, −: Not supported
*1 The fully-closed modes of operation are csp, pp and hm.
*2
 in the Supported specifications column depends on the applicable range of the related control mode.
*3 The PDO mapping conditions depend on Rx and Tx (number of bytes of the PDOs) values given above in the
control mode correspondence table.
*4 When one adaptive filter is enabled, notch 3 is set automatically. When two adaptive filters are enabled, notch
3 and notch 4 are set automatically.
*5 When RTAT is enabled, you cannot use the torque feed-forward function. (They are in an exclusive
relationship.)
*6 The FIR filter is enabled only in hm, pp and csp mode when the communications cycle is set to 1 ms or above.
*7 When Realtime Autotuning (RTAT) is enabled, the instantaneous speed observer and disturbance observer are
automatically disabled. RTAT must be disabled to enable the instantaneous speed observer.
*8 When the instantaneous speed observer is enabled, the disturbance observer is automatically disabled.
*9 RTAT and the instantaneous speed observer must be disabled to enable the disturbance observer.
*10 Profile position mode (pp) is supported for unit version 2.1 or later.
A-1-4 Modes of Operation and Applied Functions
Function
Mode of operation
Supported specifications
*2*3
csp
pp
*10
hm
csv cst
Fully-
closed
*1
Notch filter (notch 1 to notch 4)
*4

4
Damping filter

−−

2
Speed feed-forward

−−

Torque feed-forward function
*5

−

−

Position command FIR filter
*6

−−

−
Position command smoothing filter

−−

Realtime Autotuning (RTAT)
*7

−−
Instantaneous speed observer
*8

−−−

−
Disturbance Observer
*9

−−−−

*5 *8 *9