Omron R88D-GT series, Руководство пользователя

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7-16
7-3 Normal Mode Autotuning
7
Adjustment Functions
Automatically Set Parameters
Normal Mode Autotuning
• The parameters Pn15, Pn16, Pn1A, Pn30, and Pn32 to Pn36 are set to fixed values. For normal mode autotun-
ing, the default rigidity is 2.
*1. The value is 10 for position control and 0 for speed and torque control.
*2. The lower limit is set to 10 if a 17-bit encoder is used and to 25 if a 2,500-pulse/revolution encoder is used.
Parameter
No.
Parameter
name
Rigidity No.
0 1 2 3 4 5 6 7 8 9 A B C D E F
Pn10 Position Loop Gain 12 32 39 48 63 72 90 108 135 162 206 251 305 377 449 557
Pn11 Speed Loop Gain 9 18 22 27 35 40 50 60 75 90 115 140 170 210 250 310
Pn12
Speed Loop
Integration Time
Constant
62 31 25 21 16 14 12 11 9 8 7 6 5 4 4 3
Pn13
Speed Feedback
Filter Time
Constant
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Pn14
Torque Command
Filter Time
Constant
*2
253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10
Pn15
Feed-forward
Amount
300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300
Pn16
Feed-forward
Command Filter
50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
Pn18
Position Loop Gain
2
19 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649
Pn19 Speed Loop Gain 2 9 18 22 27 35 40 50 60 75 90 115 140 1170 210 250 310
Pn1A
Speed Loop
Integration Time
Constant 2
999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999
Pn1B
Speed Feedback
Filter Time
Constant 2
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Pn1C
Torque Command
Filter Time
Constant 2
*2
253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10
Pn20 Inertia Ratio Estimated load inertia ratio
Pn27
Instantaneous
Speed Observer
Setting
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Pn30
Gain Switching
Input Operating
Mode Selection
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Pn31
Control Gain Switch
1 Setting
*1
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
Pn32 Gain Switch 1 Time 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30
Pn33
Gain Switch 1 Level
Setting
50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
Pn34
Gain Switch 1
Hysteresis Setting
33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33
Pn35
Position Loop Gain
Switching Time
20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20
Pn36
Control Gain Switch
2 Setting
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0