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5-5
5-2 Speed Control
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5
BASIC CONTROL Mode
Parameter Block Diagram for SPEED CONTROL mode
Pn104: Torque Filter 1
Pn109: Torque Filter 2
Pn521
: Torque Limit Selection
Pn013: No. 1 Torque Limit
Pn522: No. 2 Torque Limit
Pn103: Feedback Filter Time Constant 1
Pn108: Feedback Filter Time Constant 2
Pn610: Function Expansion Setting
Encoder
Motor
Main
power
supply
+
+
+
+
+
+
−
Pn312:
Acceleration Time
Pn313:
Deceleration Time
Pn314:
S-curve
Acceleration and Deceleration Control
Pn623: Gain
Pn624: Filter
Disturbance observer
Pn607
: Offset Value
Pn608
: Forward Direction
Pn609
: Reverse Direction
Friction compensation
Pn114: Mode Selection
Pn120: Mode
Pn121: Delay Time
Pn122: Level
Pn123: Hysteresis
Gain switching
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
Pn101
: Speed Gain 1
Pn102
: Integration Time Constant 1
Pn106
: Speed Gain 2
Pn107
: Integration Time Constant 2
Pn004
: Inertia Ratio
Speed control
Torque limit
Pn611:
Response Setting
Current control
Torque filter
Speed detection filter
Speed
detection
Speed control command
Motor speed
Torque command
Feedback pulse accumulation
Electronic Gear
Reverse Conversion
Pn009:
Numerator
Pn010:
Denominator
Forward Torque Limit
Reverse Torque Limit
Torque Limit Unit
Conversion
Feedback Position
Feedback Latch Position
+
+
Torque FF Unit
Conversion
Torque Feed-forward
Speed
Unit
Convension
Command Speed
Target Speed
Feedback Speed
Torque feed
forward
Pn112: Gain
Pn113: Filter