Omron R88D-KN series User Manual page 304

9 Servo Parameter Objects
Disturbance Force Compensation Gain
3623 hex
100 to 100
Setting range
Size 2 bytes (INT16)
• Set the compensation gain for the disturbance force.
Refer to 11-8 Disturbance Observer Function on page 11-26.
Disturbance Observer Filter Setting
3624 hex
Setting range 10 to 2500
Size 2 bytes (INT16)
• Set the filter time constant for disturbance force compensation.
Refer to 11-8 Disturbance Observer Function on page 11-26.
Realtime Autotuning Estimated Speed Selection
3631 hex
Setting range 0 to 3
Size 2 bytes (INT16)
• Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
• The higher the set value is, the earlier the load characteristic change is followed, but the estimated
variation against the disturbance becomes greater.
• The estimated results is updated in every 30 minutes and saved in EEPEOM.
Explanation of Settings
Set value
0 No change
1 Little change
2 Gradual change
3 Sharp change
Refer to 11-3 Realtime Autotuning on page 11-7 for details of realtime autotuning settings.
9-46
Unit %
Access
Unit 0.01 ms
Access

Unit
Access
Mode
Stops load estimation.
Estimates every minute from the load characteristic changes.
Estimates every second from the load characteristic changes.
Estimates the optimum from the load characteristic changes.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Default setting 0
RW PDO map
Default setting 53
RW PDO map
Default setting 0
RW PDO map
Description
csp
Data attribute B
Not possible.
csp
Data attribute B
Not possible.
All
Data attribute B
Not possible.