Omron R88D-GT series User Manual page 427

Automatically Set Parameters
Normal Mode Autotuning
Parameter Parameter
No. name
Pn10 Position Loop Gain
Pn11 Speed Loop Gain
Speed Loop
Pn12 Integration Time
Constant
Speed Feedback
Pn13 Filter Time
Constant
Torque Command
Pn14 Filter Time
*2
Constant
Feed-forward
Pn15
Amount
Feed-forward
Pn16
Command Filter
Position Loop Gain
Pn18
2
Pn19 Speed Loop Gain 2
Speed Loop
Pn1A Integration Time
Constant 2
Speed Feedback
Pn1B Filter Time
Constant 2
Torque Command
Pn1C Filter Time
*2
Constant 2
Pn20 Inertia Ratio
Instantaneous
Pn27 Speed Observer
Setting
Gain Switching
Pn30 Input Operating
Mode Selection
Control Gain Switch
Pn31
*1
1 Setting
Pn32 Gain Switch 1 Time 30
Gain Switch 1 Level
Pn33
Setting
Gain Switch 1
Pn34
Hysteresis Setting
Position Loop Gain
Pn35
Switching Time
Control Gain Switch
Pn36
2 Setting
• The parameters Pn15, Pn16, Pn1A, Pn30, and Pn32 to Pn36 are set to fixed values. For normal mode autotun-
ing, the default rigidity is 2.
*1. The value is 10 for position control and 0 for speed and torque control.
*2. The lower limit is set to 10 if a 17-bit encoder is used and to 25 if a 2,500-pulse/revolution encoder is used.
0 1 2 3 4 5
12 32 39 48 63 72
9 18 22 27 35 40
62 31 25 21 16 14
0 0 0 0 0 0
253 126 103 84 65 57
300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300
50 50 50 50 50 50
19 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649
9 18 22 27 35 40
999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999
0 0 0 0 0 0
253 126 103 84 65 57
0 0 0 0 0 0
1 1 1 1 1 1
10 10 10 10 10 10
30 30 30 30 30
50 50 50 50 50 50
33 33 33 33 33 33
20 20 20 20 20 20
0 0 0 0 0 0
7-3 Normal Mode Autotuning
Rigidity No.
6 7 8 9 A
90 108 135 162 206 251 305 377 449 557
50 60 75 90 115 140 170 210 250 310
12 11 9 8 7
0 0 0 0 0
45 38 30 25 20
50 50 50 50 50
50 60 75 90 115 140 1170 210 250 310
0 0 0 0 0
45 38 30 25 20
Estimated load inertia ratio
0 0 0 0 0
1 1 1 1 1
10 10 10 10 10
30 30 30 30 30
50 50 50 50 50
33 33 33 33 33
20 20 20 20 20
0 0 0 0 0
B C D E F
6 5 4 4 3
0 0 0 0 0
16 13 11 10 10
50 50 50 50 50
0 0 0 0 0
16 13 11 10 10
0 0 0 0 0
1 1 1 1 1
10 10 10 10 10
30 30 30 30 30
50 50 50 50 50
33 33 33 33 33
20 20 20 20 20
0 0 0 0 0
7-16
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