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5-16
5-4 Full Closing Control
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5
BASIC CONTROL Mode
Parameter Block Diagram for FULL CLOSING 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
+
+
+
+
+
+
+
+
+
−
−
−
+
−
Pn100: Loop Gain 1
Pn105: Loop Gain 2
Position control
Pn112: Gain
Pn113: Filter
Torque feed
forward
Pn623: Gain
Pn624: Filter
Disturbance observer
Pn607: Added 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: Valid Period 3
Pn606: Ratio 3
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: 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
Pn323: Type
Pn326: Reverse
Pn327:
Phase Z setting
Input Setting
Pn325:
Denominator
Pn324: Numerator
External encoder reverse dividing
Electronic gear
reverse
conversion
Torque filter
Speed detection filter
Speed detection
External encoder
Position error
Full closing error
Speed control command
Motor speed
Torque command
Internal position command speed
Hybrid error
Feedback pulse accumulation
+
Position command speed
Speed
feed-forward
Pn110: Gain
Pn111: Filter
+
+
Speed FF
Unit Conversion
Speed Feed-forward
Electronic gear
reverse
conversion
Pn222: Position command
filter time constant
Smoothing filter
Pn009: Numerator
Pn010: Denominator
Electronic gear
setting
Command Position (post filtering)
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
Feedback Position,
Feedback Speed, or
Feedback Latch Position
Command Position (pre-filtering) /
Command Speed
Generate
Position
Command
Target Position / Target Speed
Содержание OMNUC G5 R88D-KN series
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