Omron OMNUC G5 R88D-KN series, User Manual

Page: 361 / 458

10-10
10-3 Realtime Autotuning
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adj
u
st
me
nt
Func
tions
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
Parameter
number
Parameter name
AT Machine Rigidity Setting (Pn003)
8 9 10 11 12 13 14 15
Pn004 Inertia Ratio Estimated load inertia ratio
Pn100 Position Loop Gain 1 115 140 175 320 390 480 630 720
Pn101 Speed Loop Gain 1 90 110 140 180 220 270 350 400
Pn102 Speed Loop Integral Time Constant 1 600 500 400 310 250 210 160 140
Pn103 Speed Feedback Filter Time Constant 1 0 0 0 0 0 0 0 0
Pn104 Torque Command Filter Time Constant 1
*1
300 200 200 126 103 84 65 57
Pn105 Position Loop Gain 2 140 175 220 380 460 570 730 840
Pn106 Speed Loop Gain 2 90 110 140 180 220 270 350 400
Pn107 Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000
Pn108 Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0
Pn109 Torque Command Filter Time Constant 2
*1
300 200 200 126 103 84 65 57
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
Pn124 SWITCHING mode in Torque Control 0 0 0 0 0 0 0 0
Pn125
Gain Switching Delay Time in Torque
Control
0 0 0 0 0 0 0 0
Pn126 Gain Switching Level in Torque Control 0 0 0 0 0 0 0 0
Pn127
Gain Switching Hysteresis in Torque
Control
0 0 0 0 0 0 0 0
Pn607 Torque Command Value Offset Estimated torque command additional value
Pn608 Forward Direction Torque Offset Estimated forward direction torque compensation
Pn609 Reverse Direction Torque Offset Estimated reverse direction torque compensation
Pn610.0,
Pn610.1
Function Expansion Setting 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