Omron OMNUC 88D-UP20HA, Руководство пользователя

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3-40
Set the compensating gain to 0 when auto-tuning. The gain will not be adjusted correctly if the compen-
sating gain is not set to 0.
D
Position Loop Block Diagram
Position com-
mand accel-
eration/ decel-
eration time
constant
Feed-forward
amount
Electronic
gear ratio
G1/G2
Feed-forward
command filter Bias rotational
speed
Command
pulses
Cn-02 bit
nos. 3, 4, 5
Command
pulse mode
Positioning
completion
range
Deviation
counter Position
loop gain Speed
loop Current
loop
Encoder
output
Encoder
divider rate
16 to
2048/2048
Speed
detection
M E
×
4
Cn-1d
Cn-1b
Cn-26
Cn-1C Cn-27
Cn-1A
Cn-24,25
Cn-04,05
Cn-24,25
Cn-17
Cn-0A
(Cn-1E)
Electronic
gear ratio
G1/G2
Comp.
gain
Cn-28
+
+
+
–
×
4
+
–
3-8 Regenerative Energy Absorption
Regenerative energy produced at times such as Servomotor deceleration is absorbed
by the Servo Driver’s internal capacitors, thereby preventing an increase in DC voltage.
If the regenerative energy from the Servomotor becomes too large, however, an over-
voltage error will occur. In such cases, it is necessary to connect a Regeneration Unit to
increase the capacity for absorbing regenerative energy.
3-8-1 Calculating Regenerative Energy
Regenerative energy is produced when the direction of Servomotor rotation or output torque is re-
versed. The methods for calculating regenerative energy for the horizontal and vertical shafts are ex-
plained below.
Operation
Chapter 3