Omron R88D-1SN ECT Series, User Manual, Page: 639 / 974

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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9
-7
Ap
plied
Fu
nct
ion
Ob
jects
9
9-
7-15
3B
80
he
x:
Load Character
isti
c Est
im
ation
• Selects whether to estimate load characteristics and update a value of the unbalanced load compen-
sation.
 Description of Set Values
• Selects whether to estimate load characteristics and update a value of the dynamic friction compen-
sation.
 Description of Set Values
• Sets the value to adjust the amount of torque compensation which is calculated from the estimated
viscous friction value. When the viscous friction coefficient update is enabled, the viscous friction
coefficient is updated with a value which is calculated by multiplying the estimated viscous friction by
this tuning coefficient.
• Viscous friction coefficient used in torque compensation = Estimated viscous friction coefficient ×
Tuning coefficient ÷ 100
• Selects the sensitivity to estimate load characteristics from load changes during the load characteris-
tic estimation.
• The higher the set value is, the earlier the load characteristic change is followed, but the estimated
variation against the disturbance becomes greater.
 Description of Set Values
Subindex 03 hex: Unbalanced Load Compensation Update Selection
Set
value
Description
0 Use the present set value.
1 Update with the estimation result.
Subindex 04 hex: Dynamic Friction Compensation Update Selection
Set
value
Description
0 Use the present set value.
1 Update with the estimation result.
Subindex 05 hex: Viscous Friction Tuning Coefficient
Subindex 06 hex: Estimation Sensitivity Selection
Set
value
Description
0 Estimate by minutes from load characteristic changes. This setting is used when there is a little
change in load characteristics.
1 Estimate by seconds from load characteristic changes. This setting is used when there is a gradual
change in load characteristics.
2 Estimate immediately from load characteristic changes. This setting is used when there is a sharp
change in load characteristics.