Omron R88D-KN01H-ECT-L, Руководство пользователя

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11 Adjustment Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11
-3
R
e
a
ltim
e
Au
to
tu
n
ing
11
11
-3-4
S
e
tting Ma
chine Rigidity
*1 When the unbalanced load mode, or the friction compensation and unbalanced load mode is set for realtime autotuning,
9,999 is set before the load characteristic estimation, i.e., estimation of Mass Ratio, Force Command Value Offset, and
Positive/Negative Direction Force Offset, is completed. 10.000 is set after the load characteristic estimation is completed.
Realtime Autotuning Object Table
Rigidity
Gain 1 Gain 2
3100 hex 3101 hex 3102 hex 3104 hex 3105 hex 3106 hex 3107 hex 3109 hex
Position
[0.1/s]
Speed
[0.1 Hz]
Speed
Integral
[0.1 ms]
Force
[0.01 ms]
Position
[0.1/s]
Speed
[0.1 Hz]
Speed
*1
Integral
[0.1 ms]
Force
[0.01 ms]
0 20 15 3,700 1,500 25 15 10,000 1,500
1 25 20 2,800 1,100 30 20 10,000 1,100
2 30 25 2,200 900 40 25 10,000 900
3 40 30 1,900 800 45 30 10,000 800
4 45 35 1,600 600 55 35 10,000 600
5 55 45 1,200 500 70 45 10,000 500
6 75 60 900 400 95 60 10,000 400
7 95 75 700 300 120 75 10,000 300
8 115 90 600 300 140 90 10,000 300
9 140 110 500 200 175 110 10,000 200
10 175 140 400 200 220 140 10,000 200
11 320 180 310 126 380 180 10,000 126
12 390 220 250 103 460 220 10,000 103
13 480 270 210 84 570 270 10,000 84
14 630 350 160 65 730 350 10,000 65
15 720 400 140 57 840 400 10,000 57
16 900 500 120 45 1,050 500 10,000 45
17 1,080 600 110 38 1,260 600 10,000 38
18 1,350 750 90 30 1,570 750 10,000 30
19 1,620 900 80 25 1,880 900 10,000 25
20 2,060 1,150 70 20 2,410 1,150 10,000 20
21 2,510 1,400 60 16 2,930 1,400 10,000 16
22 3,050 1,700 50 13 3,560 1,700 10,000 13
23 3,770 2,100 40 11 4,400 2,100 10,000 11
24 4,490 2,500 40 9 5,240 2,500 10,000 9
25 5,000 2,800 35 8 5,900 2,800 10,000 8
26 5,600 3,100 30 7 6,500 3,100 10,000 7
27 6,100 3,400 30 7 7,100 3,400 10,000 7
28 6,600 3,700 25 6 7,700 3,700 10,000 6
29 7,200 4,000 25 6 8,400 4,000 10,000 6
30 8,100 4,500 20 5 9,400 4,500 10,000 5
31 9,000 5,000 20 5 10,500 5,000 10,000 5