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10-9
10-2 Realtime Autotuning
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10
Adjustment Functions
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
The parameters Pn103, Pn108, Pn110 to Pn127, Pn605, Pn606, Pn610, Pn611, Pn613, Pn623
and Pn624 are set to fixed values.
Parameter
number
Parameter name
AT Machine Rigidity Setting (Pn003)
24
25
26
27
28
29
30
31
Pn004
Inertia Ratio
Estimated load inertia ratio
Pn100
Position Loop Gain
4490
5000
5600
6100
6600
7200
8100
9000
Pn101
Speed Loop Gain
2500
2800
3100
3400
3700
4000
4500
5000
Pn102
Speed Loop Integral Time Constant
40
35
30
30
25
25
20
20
Pn103
Speed Feedback Filter Time Constant
0
0
0
0
0
0
0
0
Pn104
Torque Command Filter Time Constant 1
*1
9
8
7
7
6
6
5
5
Pn105
Position Loop Gain 2
5240
5900
6500
7100
7700
8400
9400 10500
Pn106
Speed Loop Gain 2
2500
2800
3100
3400
3700
4000
4500
5000
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
9
8
7
7
6
6
5
5
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
Pn605
Gain 3 Effective Time
0
0
0
0
0
0
0
0
Pn606
Gain 3 Ratio Setting
100
100
100
100
100
100
100
100
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,
Pn610.3
Function Expansion Setting
0
0
0
0
0
0
0
0
Pn611
Electric Current Response Setting
100
100
100
100
100
100
100
100
Pn613
Inertia Ratio 2
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
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Страница 543: ...I OMNUC G5 SERIES AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Index...
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