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6 Basic Control Functions
6 - 10
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
The following block diagram is for force 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.”
6-3-3
Related Functions
Index
Name
Description
Reference
3321 hex
Speed Limit Value Setting
Set the speed limit value for force control. During force control,
the speed is controlled so as not to exceed the level set by the
speed limit value.
6-3-4
Block Diagram for Force Control Mode
3317
3321
+
-
3104
3915
3916
3109
3521
60E0
60E1
3013
3522
3525
3526
3103
3108
3610
3203
3206
3209
3212
3202
3205
3208
3211
3201
3204
3207
3210
3102
3107
3101
3106
3004
+
MAX
6072
+
6091 (01)
6092 (02)
3114
3124
3125
3126
3127
3901
3910
3323
3326
3327
3902
3904
3905
3906
3907
3908
3909
3910
3912
3913
3914
3920
6074 or 6077
Torque Demand or
Torque Actual Value
[0.1%]
Speed Limit
Selection
Command
selection
Speed Limit
Value
Setting
External
Encoder
Motor
Speed Detection
Sign
Absolute
Absolute
Speed Limit
Unit Conversion
Force Filter
1
Two-stage
Time
Two-stage
Attenuation
2
Force Limit
Selection
Positive
Negative
Motor Velocity
Actual Value
[mm/s]
6063 hex
Position Actual Internal Value
[encoder pulses]
Speed Detection Filter
Function Expansion Setting
Notch Filter
Depth
Width
1
2
3
4
Frequency
Speed Control
Proportional Integral
Inertia Ratio
1
2
607F hex
Max. Profile Velocity
[command unit/s]
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]
6071 hex
Target Torque
[0.1%]
60B2 hex
Torque Offset
[0.1%]
Speed Limit
Value
[mm/s]
Speed Feedback
Filter Time Constant 1
Speed Feedback
Filter Time Constant 2
Multiply
Electronic Gear
Reverse Conversion
Numerator
Denominator
Gain Switching
Setting 2
Mode
Delay Time
Level
Hysteresis
1
2
3
4
Encoder Specifications
Resolution
Overspeed
level
Input Settings
Type
Reverse
Phase-Z
Disabled
Motor Specifications
Rated Current
Peak Current
Phase Inductance
Phase Resistance
Overspeed level
Pole Pitch
Rated Force
Current Control
Current
Response
Main Power
Supply
Magnetic Pole
Detection
Objects Related
to Magnetic
Pole Position
Estimation
3922 to 3928
Proportional
Integral
Mass
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...
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