R88M-WP10030S-BWS1 Omron, R88M-WP10030S-BWS1 Datasheet - Page 302

• Manufacturer Part Number: R88M-WP10030S-BWS1
• Description: SERVO MOTOR 100W 100V W/BRAKE
• Manufacturer: Omron

Specifications of R88M-WP10030S-BWS1

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R88MWP10030SBWS1

Operation
• Sets the filter time constant (primary filter) for speed feedback.
• Set this parameter if the speed loop gain cannot be raised due to factors such as mechanical system
Note When speed feedback filter is set, online auto-tuning does not operate normally.
Note 1. Do not change the setting.
Note 2. This new parameter is supported by Servo Drivers with software version “r.0037.”
H Torque Control Parameters (From Pn400)
• This parameter sets the relationship between TREF (torque command input) voltage and output
• Set the TREF voltage to output the rated torque.
• The default setting is for a rated torque at TREF 3 V.
Note TREF voltage functions as an input voltage according to the control mode and parameter set-
• Sets the (primary) filter time constant for the internal torque command.
When the mechanical resonance frequency is within the response frequency of the servo loop, Servo-
motor vibration will occur. In order to prevent this from occurring, set the torque command filter time
constant.
The relationship between the filter time constant and the cut-off frequency can be found by means of the
following formula:
Set the cut-off frequency to below the mechanical resonance frequency.
• Also make this setting if the Servomotor rotation speed is fluctuating in Torque Control Mode due to
4-64
Pn309
Setting
range
Pn400
Setting
range
Pn401
Setting
range
Pn402
Setting
range
vibration.
torque.
TREF voltage noise. (Set the value as low as possible to minimize the effects of noise. If the setting is
too high, responsiveness will be lowered.)
Torque feed-forward input (when Pn002.0 = 2)
tings, as shown below.
S Torque control: torque command input
S Position and speed control: analog torque limit (when Pn002.0 = 1 or 3).
fc (Hz) = 1 / (2
Not used.
---
Torque command scale (All operation modes)
10 to 100
Torque command filter time constant (All operation modes)
0 to 65535
Forward torque limit (All operation modes)
0 to 800
Π
Τ
)
Unit
Unit
Unit
Unit
:
Τ
= Filter time constant (s), fc: cut-off frequency.
---
0.1 V/rated
torque
x 0.01 ms
%
default
setting
Default
setting
Default
setting
Default
setting
60
30
40
350
Restart
power?
Restart
power?
Restart
power?
Restart
power?
Chapter 4
No
No
No
No