Omron R88M-K Series User Manual page 549

Parameter
number
Pn109 Torque Command Filter Time Constant 2
Pn110 Speed Feed-forward Amount
Pn111 Speed Feed-forward Command Filter
Pn112 Torque Feed-forward Amount
Pn113 Torque Feed-forward Command Filter
Gain Switching Input Operating Mode
Pn114
Selection
Pn115 Switching Mode in Position Control
Pn116 Gain Switching Delay Time in Position Control 30
Pn117 Gain Switching Level in Position Control
Gain Switching Hysteresis in Position
Pn118
Control
Pn119 Position Gain Switching Time
Pn120 Switching Mode in Speed Control
Pn121 Gain Switching Delay Time in Speed Control
Pn122 Gain Switching Level in Speed Control
Pn123 Gain Switching Hysteresis in Speed Control 0
Pn124 Switching Mode in Torque Control
Gain Switching Delay Time in Torque
Pn125
Control
Pn126 Gain Switching Level in Torque Control
Gain Switching Hysteresis in Torque
Pn127
Control
Pn605 Gain 3 Effective Time
Pn606 Gain 3 Ratio Setting
Pn607 Torque Command Value Offset
Pn608 Forward Direction Torque Offset
Pn609 Reverse Direction Torque Offset
Pn610.0,
Function Expansion Setting
Pn610.3
Pn611 Electric Current Response Setting
Pn613 Inertia Ratio 2
Pn623 Disturbance Torque Compensation Gain
Pn624 Disturbance Observer Filter Setting
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis
mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque
command value offset, and forward/reverse direction torque offset) is completed. The value will
change to 10000 after the load characteristic estimation is completed.
Parameter
number
Pn004 Inertia Ratio
Pn100 Position Loop Gain
Pn101 Speed Loop Gain
Pn102 Speed Loop Integral Time Constant
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter name
*1
45
300
50
0
0
1
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
50
33
33
0
0
0
0
0
0
0
0
100
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
0
100
0
0
0
Parameter name
Estimated load inertia ratio
4490
2500
40
10-2 Realtime Autotuning
AT Machine Rigidity Setting (Pn003)
16 17 18 19 20
38 30 25 20
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
30 30 30 30
50 50 50 50
33 33 33 33
33 33 33 33
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
100 100 100 100
0 0 0 0
100 100 100 100
0 0 0 0
0 0 0 0
0 0 0 0
AT Machine Rigidity Setting (Pn003)
24 25 26 27 28
5000 5600 6100 6600
2800 3100 3400 3700
35 30 30 25
21 22 23
16 13 11
300 300 300
50 50 50
0 0 0
0 0 0
1 1 1
30 30 30
50 50 50
33 33 33
33 33 33
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
100 100 100
10
0 0 0
100 100 100
0 0 0
0 0 0
0 0 0
29 30 31
7200 8100 9000
4000 4500 5000
25 20 20
10-8