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5-3
5-1 Position Control
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5
BASIC CONTROL Mode
Parameter Block Diagram for POSITION CONTROL mode
Pn103: Feedback Filter Time Constant 1
Pn108: Feedback Filter Time Constant 2
Pn610: Function Expansion Setting
Speed detection filter
Pn521
: Torque Limit Selection
Pn013: No. 1 Torque Limit
Pn522: No. 2 Torque Limit
Encoder
Motor
Main
power
supply
+
+
+
+
+
+
+
+
−
+
−
Pn222: Position command
filter time constant
Pn009: Numerator
Pn010: Denominator
Pn100: Loop Gain 1
Pn105: Loop Gain 2
Electronic gear setting
Pn213: Filter Selection
Pn214: Frequency 1
Pn215: Filter 1 Setting
Pn216: Frequency 2
Pn217: Filter 2 Setting
Pn218: Frequency 3
Pn219: Filter 3 Setting
Pn220: Frequency 4
Pn221: Filter 4 Setting
Damping control
Position control
Pn110: Gain
Pn111: Filter
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: Mode Selection
Pn115: Mode
Pn116: Delay Time
Pn117: Level
Pn118: Hysteresis
Pn119: Switching Time
Pn605: Effective Time 3
Pn606: Ratio 3
Gain switching
Smoothing filter
Pn101: Speed Gain 1
Pn102: Integral Time Constant 1
Pn106: Speed Gain 2
Pn107: Integral Time Constant 2
Pn004: Inertia Ratio
Speed control
Torque limit
Pn611: Response Setting
Current control
Electronic gear
reverse conversion
Pn104: Torque Filter 1
Pn109: Torque Filter 2
Torque filter
Speed detection
Command Position (pre-filtering) /
Command Speed
Encoder position error
Speed control command
Motor speed
Torque command
Internal position
command speed
Feedback pulse accumulation
Position command speed
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
Electronic gear
reverse conversion
+
+
Generate
Position
Command
Target Position / Target Speed
Command Position (post filtering)
Position error
Feedback Position,
Feedback Speed, or
Feedback Latch Position
+
−
Speed FF Unit
Conversion
Speed
feed-forward
Содержание OMNUC G5 R88D-KN series
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