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6 - 7
6 Basic Control Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
6-2 C
yclic Synch
ron
ous
V
e
locity Mod
e
6
6-
2-4 Block Diagra
m
for Speed
Control Mode
The following block diagram is for speed 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
Read the word “torque” as “force.”
6-2-4
Block Diagram for Speed Control Mode
+
-
3607
3608
3609
3312
3313
3314
3623
3624
6091 (01)
6092 (02)
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
3114
3120
3121
3122
3123
+
+
3103
3108
3610
3915
3916
3323
3326
3327
3902
3904
3905
3906
3907
3908
3909
3910
3912
3913
3914
3920
3901
3910
6074 or 6077
External
Encoder
Motor
Speed Detection
Friction Compensation
Offset Value
Positive
Negative
Acceleration Limits
Acceleration Time
Deceleration Time
S-curve
Disturbance
Observer
Gain
Filter
Electronic Gear
Reverse Conversion
Numerator
Denominator
Force Filter
Speed unit
conversion
1
2
Force limit
Selection
Positive
Negative
Force Feed
Forward
Filter
Motor Velocity
Actual Value
[mm/s]
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
Mass
1
2
60B2 hex
Torque Offset
[0.1%]
Gain Switching
Setting 2
Mod
Delay Time
Level
Hysteresis
60FF hex
Target Velocity
[command unit/s]
60B1 hex
Velocity Offset
[command unit/s]
606C hex
Velocity Actual Value
[command unit/s]
6064 hex
Position Actual Value
[command unit/s]
60BA or 60BC hex
Touch Probe Pos 1/2 Pos Value
[command unit]
Speed Detection Filter
Function Expansion Setting
Speed Feedback Filter
Time Constant 1
Speed Feedback Filter
Time Constant 2
Two-stage
Time
Two-stage
Attenuation
Input Settings
Type
Reverse
Phase-Z Disabled
Motor Specifications
Rated Current
Peak Current
Phase Inductance
Phase Resistance
Overspeed level
Pole Pitch
Mass
Rated Force
Current Control
Current Response
Main Power
Supply
Magnetic Pole
Detection
Objects Related
to Magnetic
Pole Position
Estimation
3922 to 3928
Proportional
Integral
Encoder Specifications
Resolution
Overspeed level
1
2
3
4
Gain
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: ......
Страница 625: ......