Omron SMARTSTEP 2 R7D-BP01H, User Manual, Page: 289 / 334

7-18
7-5 Manual Tuning
7
Adjustment Functions
*1. Input the Inertia Ratio (Pn20). The inertia ratio can be measured with autotuning or set to a
calculated value. When the inertia ratio is unknown, set 300 in Pn20.
Table 1 :Parameter Adjustment Guidelines
Pn No. Parameter name Guideline
10 Position Loop Gain 27
11 Speed Loop Gain 15
12 Speed Loop Integration Time Constant 37
13 Speed Feedback Filter Time Constant 0
14 Torque Command Filter Time Constant 152
15 Feed-forward Amount 0
16 Feed-forward Command Filter 0
18 Position Loop Gain 2 27
19 Speed Loop Gain 2 15
1A Speed Loop Integration Time Constant 2 37
1B Speed Feedback Filter Time Constant 2 0
1C Torque Command Filter Time Constant 2 152
1D Notch Filter 1 Frequency 1500
1E Notch Filter 1 Width 2
20 Inertia Ratio *1