Omron G5 R88D-KE Series, User Manual

Page: 274 / 506

5 Basic Control Mode
5 - 6
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
• This timing chart shows an example of push-motion operation with a constant force (torque).
5-1-4 Parameter Block Diagram for Position Control Mode
Pn213: Filter 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 Pn102:
Integral Time Constant
Pn106: Speed Gain 2 Pn107:
Integral Time Constant 2
Pn004: Inertia Ratio 1 Pn612: Filter 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 settings Pn006:
Rotation Direction
Pn007: Mode
Pn222: FIR Pn223: First-order Lag
Pn008: Rotation Pn009: Numerator 1 Pn010: Denominator
Pn500: Numerator 2 Pn501: Numerator 3 Pn502: Numerator 4
Pn110: Gain Pn111: Filter Pn100: Loop Gain Pn105: Loop Gain 2
Pulse train
Electronic Gear Settings
Damping Control
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 Settings
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