Omron R7D-BP, Руководство пользователя

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7-6
7-2 Realtime Autotuning
7
Adjustment Functions
Automatically Set Parameters
When realtime autotuning is enabled, the following parameters will be set automatically.
Parameters that are set automatically cannot be changed manually.
The following parameters are set automatically. (The settings will not change even if realtime
autotuning is executed.)
Parameter No.
(Pn No.)
Parameter name
10 Position Loop Gain
11 Speed Loop Gain
12 Speed Loop Integration Time Constant
13 Speed Feedback Filter Time Constant
14 Torque Command Filter Time Constant
18 Position Loop Gain 2
19 Speed Loop Gain 2
1A Speed Loop Integration Time Constant 2
1B Speed Feedback Filter Time Constant 2
1C Torque Command Filter Time Constant 2
20 Inertia Ratio
2F Adaptive Filter Table Number Display
(Pn No.) Parameter name Set value
15 Feed-forward Amount 300
16 Feed-forward Command Filter 50
30 Gain Switching Input Operating Mode Selection 1
31 Gain Switch Setting 10
32 Gain Switch Time 30
33 Gain Switch Level Setting 50
34 Gain Switch Hysteresis Setting 33
35 Position Loop Gain Switching Time 20