Omron R88D-KN series User Manual page 347

Realtime Autotuning Object Table
3100 hex
Rigidity
Position
[0.1/s]
0 20
1 25
2 30
3 40
4 45
5 55
6 75
7 95
8 115
9 140
10 175
11 320
12 390
13 480
14 630
15 720
16 900
17 1080
18 1350
19 1620
20 2060
21 2510
22 3050
23 3770
24 4490
25 5000
26 5600
27 6100
28 6600
29 7200
30 8100
31 9000
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Gain 1
3101 hex 3102 hex 3104 hex
Speed
Speed
Integral
[0.1 Hz] [0.01 ms]
[0.1 ms]
15 3700
20 2800
25 2200
30 1900
35 1600
45 1200
60 900
75 700
90 600
110 500
140 400
180 310
220 250
270 210
350 160
400 140
500 120
600 110
750 90
900 80
1150 70
1400 60
1700 50
2100 40
2500 40
2800 35
3100 30
3400 30
3700 25
4000 25
4500 20
5000 20
3105 hex 3106 hex
Force Position Speed
[0.1/s] [0.1 Hz]
1500 25
1100 30
900 40
800 45
600 55
500 70
400 95
300 120
300 140
200 175
200 220
126 380
103 460
84 570
65 730
57 840
45 1050
38 1260
30 1570
25 1880
20 2410
16 2930
13 3560
11 4400
9 5240
8 5900
7 6500
7 7100
6 7700
6 8400
5 9400
5 10500
11 Adjustment Functions
Gain 2
3107 hex 3109 hex
Speed
Force
Integral
[0.01 ms]
[0.1 ms]
15 10000 1500
20 10000 1100
25 10000
30 10000
35 10000
45 10000
60 10000
75 10000
90 10000
110 10000
140 10000
180 10000
220 10000
270 10000
350 10000
400 10000
500 10000
600 10000
750 10000
900 10000
1150 10000
1400 10000
1700 10000
2100 10000
2500 10000
2800 10000
3100 10000
3400 10000
3700 10000
4000 10000
4500 10000
5000 10000
900
800
11
600
500
400
300
300
200
200
126
103
84
65
57
45
38
30
25
20
16
13
11
9
8
7
7
6
6
5
5
11-11