Omron R88D-GT series User Manual page 492

9-2 Parameter Tables
Pn Parameter
No. name
Realtime
21 Autotuning
Mode Selection
Realtime
9
Autotuning
22
Machine Rigidity
Selection
Adaptive Filter
23
Selection
Vibration Filter
24
Selection
9-17
Setting Explanation
Set the operating mode for realtime autotuning.
0 Realtime autotuning is not used.
Realtime autotuning is used in normal mode.
1 Use this setting if there are almost no chang-
es in load inertia during operation.
Realtime autotuning is used in normal mode.
2 Use this setting if there are gradual changes
in load inertia during operation.
Realtime autotuning is used in normal mode.
3 Use this setting if there are sudden changes
in load inertia during operation.
Realtime autotuning is used in vertical axis
4 mode. Use this setting if there are almost no
changes in load inertia during operation.
Realtime autotuning is used in vertical axis
5 mode. Use this setting if there are gradual
changes in load inertia during operation.
Realtime autotuning is used in vertical axis
6 mode. Use this setting if there are sudden
changes in load inertia during operation.
Set to use realtime autotuning without
7
switching the gain.
Set the machine rigidity to one of 16 levels during re-
altime autotuning.
The higher the machine rigidity, the greater the setting
needs to be.
The higher the setting, the higher the responsiveness.
When the Parameter Unit is used, 0 cannot be set.
Enable or disable the adaptive filter.
0 Adaptive filter disabled.
Adaptive filter enabled. Adaptive operation
1
performed.
Adaptive filter enabled. Adaptive operation
2
will not be performed (i.e., it will be held).
Vibration filters 1 and 2 can be switched.
No switching. (Both filter 1 and filter 2 are en-
0
abled.)
Switching with the DFSEL/PNSEL input.
1 Open: Vibration filter 1
Closed: Vibration filter 2
Switching with command direction.
2 Forward: Vibration filter 1
Reverse: Vibration filter 2
Default Setting
Unit
setting range
0 --- 0 to 7
2 --- 0 to F
0 --- 0 to 2
0 --- 0 to 2
Power
OFF→
ON
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