Omron R7D-BP, User Manual

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7-11
7-3 Autotuning
7
Adjustment Functions
Automatically Set Parameters
The following parameters will be set automatically according to the autotuning machine rigidity
number selected.
Pn
No.
Parameter name Machine Rigidity No.
0 1 2 3 4 5 6 7
10 Position Loop Gain 27 32 39 48 63 72 90 108
11 Speed Loop Gain 15 18 22 27 35 40 50 60
12 Speed Loop Integration Time Constant 37 31 25 21 16 14 12 11
13 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0
14 Torque Command Filter Time Constant 152 126 103 84 65 57 45 38
18 Position Loop Gain 2 31 38 46 57 73 84 105 126
19 Speed Loop Gain 2 15 18 22 27 35 40 50 60
1A Speed Loop Integration Time Constant 2 1000 1000 1000 1000 1000 1000 1000 1000
1B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0
1C Torque Command Filter Time Constant 2 152 126 103 84 65 57 45 38
20 Inertia Ratio Estimated load inertia ratio
Pn
No.
Parameter name Machine Rigidity No.
8 9 A B C D E F
10 Position Loop Gain 135 162 206 251 305 377 449 557
11 Speed Loop Gain 75 90 115 140 170 210 250 310
12 Speed Loop Integration Time Constant 9 8 7 6 5 4 4 3
13 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0
14 Torque Command Filter Time Constant 30 25 25 25 25 25 25 25
18 Position Loop Gain 2 157 188 241 293 356 440 524 649
19 Speed Loop Gain 2 75 90 115 140 170 210 250 310
1A Speed Loop Integration Time Constant 2 1000 1000 1000 1000 1000 1000 1000 1000
1B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0
1C Torque Command Filter Time Constant 2 30 25 20 16 13 11 10 10
20 Inertia Ratio Estimated load inertia ratio
Reference
Œ
The parameter default values are set according to the machine rigidity number.
The parameter settings are automatically changed when autotuning is executed.