Automatic Gain Setting - Omron R88D-GT series User Manual

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.
Precautions
for Correct Use
 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,
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.
Parameter No.
Pn10
Pn11
Pn12
Pn13
Pn14
Pn18
Pn19
Pn1A
Pn1B
Pn1C
Settings for the following parameters are set automatically.
Parameter No.
Pn15
Pn16
Pn27
Pn30
Pn31
Pn32
Pn33
Pn34
Pn35
Pn36
*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.
will be displayed, and
Parameter name
Position Loop Gain
Speed Loop Gain
Speed Loop Integration Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integration Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
Parameter name
Feed-forward Amount
Feed-forward Command Filter
Instantaneous Speed Observer Setting
Gain Switching Input Operating Mode Selection
Control Gain Switch 1 Setting
Gain Switch 1 Time
Gain Switch 1 Level Setting
Gain Switch 1 Hysteresis Setting
Position Loop Gain Switching Time
Control Gain Switch 2 Setting
7-5 Manual Tuning
will be displayed
Set value
300
50
0
1
*1
10
30
50
33
20
0
7-32
7