R88M-WP10030S-BWS1 Omron, R88M-WP10030S-BWS1 Datasheet - Page 345

• 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
H Position Loop Block Diagram (Reference)
H Gain Adjustment Procedure
• The servo system control block is configured from the following three loops: Position loop, speed loop,
• The current loop is the innermost loop, followed by the speed loop, then the position loop.
• Outputs from outer loops become inputs to inner loops, and for outer loops to perform suitable control
• The current loop is adjusted at the factory for sufficient response, so adjust the speed loop first, then
• Adjust the speed loop to increase compliance with the speed command. Perform the adjustment while
• Adjust the position loop to increase compliance with the position command. Input position commands
Command
pulses
Encoder
output
and current loop.
operations, it is necessary that inner loops respond sufficiently to their inputs, i.e., inner loop respon-
siveness must be high. Also, be sure to adjust the gain starting from the innermost loop.
adjust the position loop.
checking the servo rigidity (force needed to maintain position against external force) with the Servo-
lock ON.
using an actual operating pattern, and perform the adjustment while checking the position-fixing time.
Command
pulse mode
Encoder dividing
rate
Position com-
mand filter time
constant
Feed-forward
amount
Command
pulse factor
Command
pulse factor
Electronic
gear ratio
(G1/G2)
Electronic
gear ratio
(G1/G2)
Feed-forward
command filter
Deviation
counter
Bias
addition
band
Position loop
gain
Speed
detection
Encoder
Speed
loop
Bias rotational
speed
Chapter 4
Position loop
Current loop
Current
detection
Speed loop
Servomotor
Current
loop
4-107