9 - 9
9 Adjustment Functions
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
9-2 R
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9
9-2-2 Setting Machine
Rigidity
Parameter
No..
Name
Autotuning Machine Rigidity Setting (Pn003)
16
17
18
19
20
21
22
23
Pn004
Inertia Ratio 1
Estimated load inertia ratio
Pn100
Position Loop Gain
900
1,080 1,350 1,620 2,060 2,510 3,050 3,770
Pn101
Speed Loop Gain
500
600
750
900
1,150 1,400 1,700 2,100
Pn102
Speed Loop Integral Time Constant
120
110
90
80
70
60
50
40
Pn103
Speed Feedback Filter Time Constant
0
0
0
0
0
0
0
0
Pn104
Torque Command Filter Time Constant
45
38
30
25
20
16
13
11
Pn105
Position Loop Gain 2
1,050 1,260 1,570 1,880 2,410 2,930 3,560 4,400
Pn106
Speed Loop Gain 2
500
600
750
900
1,150 1,400 1,700 2,100
Pn107
Speed Loop Integral Time Constant 2
10,000
10,000 10,000 10,000
10,000 10,000
10,000 10,000
Pn108
Speed Feedback Filter Time Constant 2
0
0
0
0
0
0
0
0
Pn109
Torque Command Filter Time Constant 2
45
38
30
25
20
16
13
11
Pn110
Speed Feed-forward Amount
300
300
300
300
300
300
300
300
Pn111
Speed Feed-forward Command Filter
50
50
50
50
50
50
50
50
Pn112
Torque Feed-forward Amount
0
0
0
0
0
0
0
0
Pn113
Torque Feed-forward Command Filter
0
0
0
0
0
0
0
0
Pn114
Gain Switching Input Operating Mode
Selection
1
1
1
1
1
1
1
1
Pn115
Switching Mode in Position Control
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
Pn116
Gain Switching Delay Time in Position
Control
30
30
30
30
30
30
30
30
Pn117
Gain Switching Level in Position Control
50
50
50
50
50
50
50
50
Pn118
Gain Switching Hysteresis in Position
Control
33
33
33
33
33
33
33
33
Pn119
Position Gain Switching Time
33
33
33
33
33
33
33
33
Pn120
Switching Mode in Speed Control
0
0
0
0
0
0
0
0
Pn121
Gain Switching Delay Time in Speed
Control
0
0
0
0
0
0
0
0
Pn122
Gain Switching Level in Speed Control
0
0
0
0
0
0
0
0
Pn123
Gain Switching Hysteresis in Speed Control
0
0
0
0
0
0
0
0
Pn605
Gain 3 Effective Time
0
0
0
0
0
0
0
0
Pn606
Gain 3 Ratio Setting
100
100
100
100
100
100
100
100
Pn607
Torque Command Value Offset
Estimated torque command additional value
Pn608
Forward Direction Torque Offset
Estimated forward torque compensation value
Pn609
Reverse Direction Torque Offset
Estimated reverse torque compensation value
Pn610.0,
Pn610.3
Function Expansion Setting
0
0
0
0
0
0
0
0
Pn611
Electric Current Response Setting
100
100
100
100
100
100
100
100
Pn613
Inertia Ratio 2
0
0
0
0
0
0
0
0
Pn623
Disturbance Torque Compensation Gain
0
0
0
0
0
0
0
0
Pn624
Disturbance Observer Filter Setting
0
0
0
0
0
0
0
0
Summary of Contents for G5 R88D-KE Series
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