R88M-W75030T-S1 Omron, R88M-W75030T-S1 Datasheet - Page 311

• 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
●
• When the Servomotor position deviation pulses are equal to or greater than the number of pulses
• Operation Example
4-7-8 Predictive Control (Position)
Predictive control is a method for minimizing future deviation by using machine characteristics and
target values in position control mode to predict deviation.
The R88D-WN@@@-ML2 Servo Driver provides two types of predictive control: predictive control for
positioning, which aims at shortening the settling time, and predictive control for tracking, which aims
at reducing tracking deviation.
With predictive control for positioning, future position commands are predicted in order to execute
high-speed positioning. With predictive control for tracking, on the other hand, the tracking of position
commands that are input is retained.
The adjustment method is to simply enable predictive control, and then the recommended value is
calculated and set according to the position loop gain (Kp) set at that time. If required, the adjustment
can be further refined by means of user constants for minute adjustment.
Position
deviation
pulses
set in the user constant (Pn10F), the speed loop is switched to P control.
Used to shorten the settling time. In general, the speed loop gain must be raised in order to shorten
the settling time, but in this case overshooting and undershooting are suppressed.
Speed
Speed loop gain raised.
P Control Switching Condition Taken as Position Deviation Pulses (Pn10B.0 = 3)
Servomotor
speed
Servomotor
speed
Without P control switching
Command
Long settling time
Speed
command
Overshooting
Time
Under-
shooting
Servomotor
speed
Servomotor speed
Time
Servo-
motor
speed
Pn10F
With P control switching
PI
Settling time
P control
PI control
Chapter 4
4-115