R88M-W75030T-S1 Omron, R88M-W75030T-S1 Datasheet - Page 298

• Manufacturer Part Number: R88M-W75030T-S1
• Description: SERVO MOTOR 750W 200V
• Manufacturer: Omron

Specifications of R88M-W75030T-S1

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R88MW75030TS1

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• A Servo System control block is configured of a position loop, a speed loop, and a current loop.
• The current loop is the most interior, followed by the speed loop and then the position loop.
• An output from an exterior loop is an input for an interior loop. As a condition for the exterior loop to
• In order for the current loop to have a sufficient response, it is adjusted at the time of shipping.
• The speed loop adjustment increases tracking for speed commands. Perform this adjustment in
• The position loop adjustment increases tracking for position commands. Input the position com-
4-102
Operation
Speed Speed pattern
operate properly, the interior loop must be able to give a sufficient response to that input. In other
words, high response is required from the interior loop. Also, when adjusting gain, the adjustment
proceeds from the interior loop gain.
Therefore first adjust the speed loop, and then the position loop.
servolock status, while checking the Servo rigidity (the force holding the position against external
force).
mand in the actual operating pattern while checking the positioning time.
Procedure for Adjusting Gain
Host device
(provided by user)
Time
Move
com-
mand
Position loop
Deviation
counter
Position control loop
Position
loop gain
Kp
Servopack
Speed
com-
mand
Kp: Position loop gain (Pn102)
Kv: Speed loop gain (Pn100)
Ti: Speed loop integration constant (Pn101)
Tf: First-level No. 1 torque command filter time constant (Pn401)
Speed control loop
Speed loop
Speed
control unit
KV, Ti
Tf
Current loop
Current
conver-
sion unit
Power
conver-
sion unit
Servomotor
Encoder
PG
M
Chapter 4