Omron R88D-GT series, Руководство пользователя

Страница: 443 / 510

7-32
7-5 Manual Tuning
7
Adjustment Functions
Automatic Gain Setting
Automatic gain setting initializes the control parameters and the gain switching parameters to gain
settings for normal mode autotuning to match the rigidity before manual tuning is performed.
 Operating Procedure
Refer to
Front Panel Display Example
on page 7-9.
1. Stop operation.
2. Start the automatic gain setting function in the fit gain window on the front panel.
If the fit gain is completed normally, will be displayed, and will be displayed
if it is completed with an error. (The display can be cleared using the keys.)
3. Write data to the EEPROM if the results are to be saved.

Automatically Set Parameters
The following parameters are set automatically.
Settings for the following parameters are set automatically.
*1. The setting is 10 for position control and 0 for speed and torque control.
• Stop operation before making changes when executing the automatic gain
setting function.
Parameter No. Parameter name
Pn10 Position Loop Gain
Pn11 Speed Loop Gain
Pn12 Speed Loop Integration Time Constant
Pn13 Speed Feedback Filter Time Constant
Pn14 Torque Command Filter Time Constant
Pn18 Position Loop Gain 2
Pn19 Speed Loop Gain 2
Pn1A Speed Loop Integration Time Constant 2
Pn1B Speed Feedback Filter Time Constant 2
Pn1C Torque Command Filter Time Constant 2
Parameter No. Parameter name Set value
Pn15 Feed-forward Amount 300
Pn16 Feed-forward Command Filter 50
Pn27 Instantaneous Speed Observer Setting 0
Pn30 Gain Switching Input Operating Mode Selection 1
Pn31 Control Gain Switch 1 Setting 10
*1
Pn32 Gain Switch 1 Time 30
Pn33 Gain Switch 1 Level Setting 50
Pn34 Gain Switch 1 Hysteresis Setting 33
Pn35 Position Loop Gain Switching Time 20
Pn36 Control Gain Switch 2 Setting 0
Precautions
for Correct Use