R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 437

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

*1. The Gain Switch Time (Pn32, Pn37) is used when returning from gain 2 to gain 1.
*2. The Gain Switch Hysteresis Setting (Pn34, Pn39) is defined as shown in the following figure.
*3. A setting of 200 is used for a 10% change in torque over a period of 166 µs.
*4. Specify the encoder resolution based on the control mode.
*5. The setting is 1 given the condition of a change in speed of 10 r/min. over a period of 1 s.
*6. The delay, level, and hysteresis have different meanings when Pn31 = 10. (Refer to figure F.)
Pn31
Pn31
0
1
2
3
4
5
0
1
2
3
10%/166 µs = setting of 200 × (0.05%/166 µs).
Speed Control Mode
Torque Control Mode
Conditions for switching to
gain 2
Always gain 1
Always gain 2
Switching using Gain Switch
Input (GSEL)
Amount of change in torque
command
Amount of change in speed
command
Command speed
Conditions for switching to
gain 2
Always gain 1
Always gain 2
Switching using Gain Switch
Input (GSEL)
Amount of change in torque
command
Gain Switch Setting
Gain Switch Setting
Pn33
0
Gain 1
Fig-
Fig-
ure
ure
Gain 2
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A
B
C
Gain Switch Time
Gain Switch Time
Pn32, 37
Pn32, 37
Pn32
Pn34
Gain 1
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Setting parameters for torque control mode
Setting parameters for speed control mode
*1
*1
Gain Switch Level
Gain Switch Level
*3
*3
*5
(0.05%/166 µs)
(0.05%/166 µs)
Pn33, 38
Pn33, 38
Setting
Setting
(10 r/min/s)
(r/min)
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7-5 Manual Tuning
Gain Switch Hysteresis
Gain Switch Hysteresis
*3
*3
*5
(0.05%/166 µs)
(0.05%/166 µs)
Setting
Setting
Pn34, 39
Pn34, 39
(10 r/min/s)
(r/min)
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*2
*2
7-28
7