Omron CS1W-MCH71 Operation Manual page 240

Servo Parameter
Type User
constant No.
Pn102
Pn103
Pn104
Pn105
Pn106
Rotary Pn107
Pn108
Pn109
Pn10A
Pn10B
0
1
2
R
3
Pn10C
Rotary Pn10D
Rotary Pn10E
Pn10F
Pn110
0
1
2
R
3
Pn111
Pn112 R
Pn113
R
Pn114 R
Pn115 R
Pn116 R
Pn117
R
Pn118 R
Pn119 R
Pn11A R
Name
Position loop gain
Inertia ratio
Speed loop gain 2
Speed loop integration time constant 2 2
Position loop gain 2
Bias
Bias additional width
Feed forward
Feed forward filter time constant
Advanced gain-related switch
Mode switch select 0
1
2
3
4
Speed loop control 0
method
1
Reserved
Reserved 0
1
2
Mode switch (Torque command)
Mode switch (Speed command)
Mode switch (Acceleration)
Mode switch (Error pulse)
Real-time auto tuning-related switch
Online auto tuning 0
method
1
2
Speed FB compensation 0
function select
1
Viscous friction compen- 0
sation function select
1
2
Reserved 0
1
2
3
Speed FB compensation
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Size Unit Lower
limit
2 1/s 1
2 % 0
2 Hz 1
0.01 ms 15
2 1/s 1
2 r/min 0
2 Pulse 0
2 % 0
2 0.01 ms 0
2 --- ---
Internal torque command is the switching
condition.(Level setting: Pn10C)
Speed command is the switching condi-
tion.(Level setting: Pn10D)
Acceleration is the switching condition.(Level
setting: Pn10E)
Error pulse is the switching condition.(Level
setting: Pn10F)
No mode switching function
PI control
IP control
---
---
---
---
2 % 0
2 r/min 0
2 10 r/ 0
min/s
2 Pulse 0
2 --- 0000H
Tuning just at beginning of an operation.
Always tuning
No auto tuning
With
Without
Friction compensation: Nil
Friction compensation: Small
Friction compensation: Large
---
---
---
---
2 --- 1
2 % 0
2 0.1 Hz 0
2 --- 0
2 0.1 ms 0
2 0.1 ms 0
2 % 20
2 % 50
2 1/s 1
2 0.1% 1
Section 4-8
Upper the Support En-
limit Tool initial able
value
●
2000 40
●
10000 0
●
2000 40
●
51200 2000
●
2000 40
●
10000 0
●
250 7
●
100 0
●
6400 0
●
--- 0000H
●
4
●
0
0
0
●
800 200
●
10000 0
●
3000 0
●
10000 0
●
3212H 0010H
●
0
●
1
●
0
●
0
●
100 100
●
1000 100
●
10000 1000
●
400 200
●
1000 32
●
1000 16
●
100 100
●
100 100
●
2000 60
●
2000 1000
195