R88M-W75030T-S1 Omron, R88M-W75030T-S1 Datasheet - Page 303

• 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

Operation
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• Automatic Switching Pattern 1 (Pn139.0: 1)
• Even when the switching conditions are met, switching is not executed during the gain switching
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• The following diagram shows the relationship between the gain switching waiting time and the gain
No. 1 gain Pn100 Speed loop
No. 2 gain Pn104 Speed loop
Parameter setting Switching condition
Pn139.0: 1
(Automatic switch-
ing pattern 1)
Switched
waiting time. This is effective for when switching conditions are not stable, or when detailed timing is
set. The switching time is set to reduce shock during gain switching, and the gain is directly
switched during this time. The gain switching waiting time and switching time can be set for No. 1 to
No. 2 and No. 2 to No. 1 gain as shown in the following table.
switching time constant. In this example, automatic gain switching pattern 1 takes the turning ON of
positioning completed signal 1 (INP1) as the condition, and operation is switched from the position
loop gain (Pn102) to the No. 2 position loop gain (Pn106). The switching condition is satisfied when
the INP1 signal turns ON, and then, from that point, operation pauses for the delay time set in
Pn135. Then the gain is directly changed from Pn102 to Pn106 during the switching time set in
Pn131.
Gain Switching Combinations
Automatic Gain Switching Pattern
Automatic Gain Switching
Gain Switching Waiting Time and Gain Switching Time
No. 1 gain
gain
Pn100
Pn101
Pn102
Pn401
Speed loop gain
Condition A
Waiting time 2
Switching time 2 Pn132
Pn139.1
gain
gain 2
Condition A met.
Pn139.1
Condition B met.
Pn139.2
Pn136
Waiting time 1
Switching time 1
Pn101 Speed loop
Pn105 Speed loop
Speed loop integral
time constant
No. 1 to No. 2 gain
No. 2 to No. 1 gain
integration
constant
integration
constant 2
Condition B
Switching gain
Pn139.2
Pn135
Pn131
No. 2 gain
Pn104
Pn105
Pn106
Pn412
Pn102 Position loop
Pn106 Position loop
Position loop gain
Waiting time 1
Pn135
Waiting time 2
Pn136
gain
gain 2
Gain switching
waiting time
Pn401 1st step 1st
Pn412 1st step 2nd
Torque command
Switching time 1
Pn131
Switching time 2
Pn132
Gain switching
Chapter 4
torque com-
mand filter
time constant
torque com-
mand filter
time constant
filter
time
4-107