R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 287

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

Related Functions
Parameter Block Diagram for Position Control Mode
Phase A, B, Z
Torque Limit
PCL
Torque Limit
NCL
Position command filter function
Feed-forward function
Torque limit function
CW
CCW
*1
Vibration Filter
Pn2B: Frequency 1
Pn2C: Filter 1
Pn2D: Frequency 2
Pn2E: Filter 2
Speed Command
Input Condition
Setting
Pn40: Input
Pn41: Rotation
Pn42: Mode
Notch Filter
Pn1D: Filter 1 Frequency
Pn1E: Filter 1 Width
Pn28: Filter 2 Frequency
Pn29: Filter 2 Width
Pn2A: Notch Filter 2 Depth
Pn2F: Adaptive Filter
Function
• The main functions related to position control are as follows:
Monitor
Divider Setting
Pn44: Numerator
Pn45: Denominator
Pn46: Direction
Selection
Direction
Torque Limit Input
3 V/100 %
Switch
Pn4D:
Smoothing Filter
Setting
+
−
Sets the soft start for the command pulse.
Adds the command pulse differential to the speed loop to reduce the
positioning time.
Limits the Servomotor’s torque output.
Speed FF
Pn15: FF Amount
Pn16: FF Command Filter
Torque Command/Limit
Pn14: Filter
Pn1C: Filter 2
Pn5E: No.1 Torque Limit
Pn5F: No.2 Torque Limit
Deviation Counter
Pn10: Loop Gain 1
Pn18: Loop Gain 2
Position Deviation
Actual Speed
Monitor
Monitor
Electronic Gear
Pn48: Numerator G1
Pn49: Numerator G2
Pn4A: Numerator
Pn4B: Denominator
Exponent
Explanation
Torque Command
Monitor
+
Speed Detection Filter
Pn13: Filter 1
Pn1B: Filter 2
+
+
+
Pn4C:
Position
Command
Filter
−
−
Current Feedback
Torque
PI
Processor
Speed PI Processor
Pn11: Speed Gain 1
Pn12: Integration Time
Pn19: Speed Gain 2
Pn1A: Integration Time
Pn20: Inertia Ratio
5-1 Position Control
Receive
Encoder
Signal
Constant 1
Constant 2
Reference
page
5-28
5-60
5-25
SM
RE
*1
5-2
5