Omron R88D-1SN01H-ECT, Руководство пользователя

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6 - 5
6 Basic Control Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-
2 Co
ntro
l Block
s
6
6-
2-1 Block Diagra
m
for Position Co
ntrol
6-2 Control Blocks
The block diagrams for position control, velocity control and torque control are given.
The block diagrams for TDF position control and ODF position control are given.
6-2-1 Block Diagram for Position Control
TDF Position Control
E
Gear ratio
Shaft
revolutions
6091-01
Motor
revolutions
6091-02
Damping Filter 1
1st
2nd
3rd
4th
Frequency
Damping Time
Coefficient
Gain Switching in Position Control
Mode Selection
Delay Time
Speed
Time
+
+
+
+ +
Notch Filter
Depth
Q-value
1st
2nd
3rd
4th
Frequency
Velocity Control
Proportional
Gain
Integral
Gain
Inertia Ratio
1st
2nd
607A hex
Target position
(Command unit)
60B0 hex
Position offset
(Command unit)
6064 hex
Position actual value
(Command unit)
60BA hex or 60BC hex
Touch probe 1/2 positive edge
(Command unit)
6062 hex
Position demand
value
(Command unit)
3010-83 hex
Position Command
Velocity
(Command unit/s)
3010-86 hex
Motor Velocity After
Damping Filtering
(r/min)
60B2 hex
Torque offset
(0.1%)
6063 hex
Position actual
internal value
(Encoder pulse)
60FC hex
Position demand
internal value
(Encoder pulse)
3010-91 hex
Position Command
Following Error
(Command unit)
Position Command Filter
FIR Filter
Moving Average Time
3011-02
Position Command Filter
IIR Filter
Cutoff Frequency
3011-04
3212-01
3212-02
3212-03
3212-04
3013-01
3013-03
3013-05
3013-07
Filter selection 3012-01
3010-84 hex
Position Command
Motor Velocity
(r/min)
3013-02
3013-04
3013-06
3013-08
Damping Filter 2
1st
2nd
3rd
4th
Frequency
3014-01
3014-03
3014-05
3014-07
Filter selection
3014-02
3014-04
3014-06
3014-08
Damping
Time Coefficient
3012-02
Command Following Gain Selection 3120-10
Command Following Gain 3120-01
Command Following Gain 2 3120-11
60B1 hex
Velocity offset
(Command unit/s)
3210-81 hex
Internal Position
Command - Position
(Command unit)
3210-84 hex
Internal Position Command
Motor Velocity
(r/min)
Position Control
1st
2nd
3213-01
3214-01
Proportional Gain
+
-
-
-
60F4 hex
Following error
actual value
(Command unit)
3210-92 hex
Following Error Actual
Internal Value
(Encoder pulse)
+
+
+
+
+
Velocity
detection
606C hex
Velocity actual value
(Command unit/s)
3221-82 hex
Present Motor Velocity
(r/min)
3223-01 3223-02
3224-01 3224-02
3001-01
M
+ + +
+
Torque Compensation
Viscous Friction Coefficient
Unbalanced Load Compensation
Positive Dynamic Friction
Compensation
Negative Dynamic Friction
Compensation
3310-01
3310-02
3310-03
3310-04
3321-02
3322-02
3323-02
3324-02
3321-03
3322-03
3323-03
3324-03
3321-04
3322-04
3323-04
3324-04
Adaptive Notch Filter 3320-01
Torque Command
Filter
3233-02
3234-02
Cutoff Frequency
1st
2nd
6077 hex
Torque actual value
(0.1%)
6074 hex
Torque demand
(0.1%)
Current
control
60FA hex
Control effort
(Command unit/s)
606Bhex
Velocity demand value
(Command unit/s)
3220-82 hex
Internal Velocity Command
Motor Velocity
(r/min)
Torque Limit
Switching Selection
Positive torque
limit value
3330-01
60E0
60E1
Positive Torque
Limit Value 2
Negative torque
limit value
Negative Torque
Limit Value 2
Max torque
3330-05
3330-06
6072
3010-85 hex
Motor Velocity After Position
Command Filtering (r/min)
TDF Position Control