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6 Basic Control Functions
6 - 4
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
The following block diagram is for position control using an R88D-KN
-ECT-L-series Servo Drive.
Note 1
Numbers within parentheses are sub-index numbers.
2
Numbers within boxes are hexadecimal index numbers.
3
Profile position mode (pp) and Homing mode (hm) are also included in this block diagram.
4
Read the word “torque” as “force.”
6-1-2
Block Diagram for Position Control Mode
3110
3111
6091(01)
6091(02)
FIR
3818
3222
+
-
3100
3105
+
+
3214
3216
3218
3215
3217
3219
3220 3221
3213
+
-
3607
3608
3609
3623
3624
3114
3115
3116
3117
3118
3119
3605
3606
3104
3109
3521
60E0
60E1
3013
3522
3525
3526
3112
3113
+
+
+
-
+
+
+
+
+
3203
3206
3209
3212
3202
3205
3208
3211
3201
3204
3207
3210
3200
3102
3107
3101
3106
3004
+
+
MAX
6072
+
3103
3108
3610
3323
3326
3327
3901
3910
3912
3913
3914
3920
3902
3904
3905
3906
3907
3908
3909
3910
3915
3916
+
6074 or 6077 hex
Proportional
Integral
Motor Specifications
Rated Current
Peak Current
Phase Inductance
Phase Resistance
Overspeed level
Pole Pitch
Mass
Rated Force
Two-stage Time
Two-stage Attenuation
Type
Reverse
Phase-Z Disabled
Encoder
Specifications
Resolution
Overspeed level
Magnetic Pole Detection
Objects Related
to Magnetic
Pole Position
Estimation
3922 to 3928
1
2
3
4
Filter
selection
Frequency Filter
Current Control
Current Response
External
Encoder
Motor
Main Power
Supply
Speed
Feed-forward
Gain
Filter
Gear Ratio
Forward Conversion
Numerator
Denominator
Smoothing
Filter
First-order Lag
Position
Control
1
2
Damping Control
Speed Detection
Friction
Compensation
Offset Value
Positive
Negative
Disturbance
Observer
Gain
Filter
Gain Switching
Setting 2
Mode
Delay Time
Level
Hysteresis
Switching Time
Setting 3
Ratio
Force Filter
1
2
Force limit
Selection
Positive
Negative
1
2
3
4
Force
Feed-forward
Gain
Filter
Motor Velocity
Actual Value
[mm/s]
Following Error
Actual Internal Value
[External encoder pulse]
Motor Control Effort
[mm/s]
6063 hex
Position Actual Internal Value
[External encoder pulse]
Notch Filter
Depth
Width
1
2
3
4
Frequency
Adaptive Filter Selection
Speed Control
Proportional Integral
Inertia Ratio
1
2
Generate
Position
Command
607A hex
Target Position
[command unit]
60B0 hex
Position Offset
[command unit]
606C hex
Velocity Actual Value
[command unit/s]
60BA or 60BC hex
Touch Probe Pos 1/2 Pos Value
[command unit]
6064 hex
Position Actual Value
[command unit]
60FC hex Position
Demand Internal Value
[encoder pulses]
60F4 hex
Following Error Actual Value
[command unit]
Position Demand Value
After Filtering
[command unit]
Velocity Demand Value
After Filtering
[command unit/s]
6062 hex
Position Demand Value
[command unit]
Velocity
Demand Value
[command unit/s]
Motor Velocity
Demand Value
[mm/s]
Motor Velocity Demand
Value After Filtering
[mm/s]
Electronic Gear
Reverse Conversion
60B2 hex
Torque Offset
[0.1%]
Electronic Gear
Reverse Conversion
Speed feed-forward
unit conversion
60FA hex
Control Effort
[command unit/s]
60B1 hex
Velocity Offset
[command unit/s]
Speed Detection Filter
Function Expansion Setting
Speed Feedback
Filter Time Constant 1
Speed Feedback
Filter Time Constant 2
Input Settings
Torque Demand or
Torque Actual Value
[0.1%]
Содержание R88D-KN01H-ECT-L
Страница 136: ...3 Specifications 3 60 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 190: ...4 System Design 4 54 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 208: ...5 EtherCAT Communications 5 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 226: ...6 Basic Control Functions 6 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 268: ...7 Applied Functions 7 42 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 276: ...8 Safety Function 8 8 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 616: ...Appendices A 170 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 617: ...Index 1 I G5 series Linear Motors Servo Drives With Built in EtherCAT Communications Index...
Страница 624: ......
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