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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
Содержание OMNUC G5 R88D-KN series
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