6 - 3
6 Basic Control Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6
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6
6-
1-2 Co
ntrol Method
For the 1S-series Servo Drives, TDF control and ODF control are available.
In the TDF control, you can adjust the servo rigidity against disturbance and the target path following
performance separately.
Therefore, you can perform the adjustment to suppress overshooting without lowering servo rigidity.
In the ODF control, the offset can be input as you expect because there is no interruption due to
feed-forward input from the TDF control section.
Use TDF control in normal operation. Use ODF control when Velocity offset and Torque offset are input
from the host controller.
6-1-2
Control Method
Present Motor Velocity
Disturbance input
Position Command
Motor Velocity
Smaller
command
following gain
Time response waveform in TDF control
Velocity
Time
Time response waveform in ODF control
Velocity
Time
Smaller
position
proportional
gain
Present Motor Velocity
Position Command
Motor Velocity
Disturbance input
Summary of Contents for R88D-1SN01H-ECT
Page 827: ......
