Omron R88D-GT series, Руководство пользователя

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7-23
7-5 Manual Tuning
7
Adjustment Functions
Set the following parameters.
Table 1: Parameter Adjustment Values
*1. Input the Inertia Ratio (Pn20). The inertia ratio can be measured with normal mode autotuning
or set to a calculated value. When the inertia ratio is unknown, enter 300 as the inertia ratio.
Parameter No. Parameter name Guideline
Pn10 Position Loop Gain 30
Pn11 Speed Loop Gain 50
Pn12 Speed Loop Integration Time Constant 40
Pn13 Speed Feedback Filter Time Constant 0
Pn14 Torque Command Filter Time Constant 160
Pn15 Feed-forward Amount 0
Pn16 Feed-forward Command Filter 0
Pn18 Position Loop Gain 2 30
Pn19 Speed Loop Gain 2 50
Pn1A Speed Loop Integration Time Constant 2 40
Pn1B Speed Feedback Filter Time Constant 2 0
Pn1C Torque Command Filter Time Constant 2 160
Pn1D Notch Filter 1 Frequency 1500
Pn1E Notch Filter 1 Width 2
Pn20 Inertia Ratio *1