Omron G5 Series User Manual page 338

7 Parameter Details
Pn003 Realtime Autotuning Machine Rigidity Setting
Setting 0 to 31
range
*1 The default setting is 11 for a Servo Drive with 200 V and 1 kW or more.
• Set the machine rigidity in 32 levels when realtime autotuning is enabled.
• Increasing or decreasing the set value too much at a time may cause the gain to change rapidly,
which applies an impact on the machine. Always start with a small value, and gradually increase it
while monitoring machine operation.
Pn004
Inertia Ratio 1
Setting 0 to 10,000
range
• Set the load inertia as a percentage of the motor rotor inertia.
• Pn004 = (Load inertia/Rotor inertia) x 100%
• When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved to the
EEPROM every 30 minutes.
• When the inertia ratio is set correctly, the setting unit for Speed Loop Gain (Pn101) and Speed Loop
Gain 2 (Pn106) is Hz.
• If Inertia Ratio 1 (Pn004) is set larger than the actual value, the setting unit for speed loop gain is
larger. If Inertia Ratio 1 (Pn004) is set smaller than the actual value, the setting unit for speed loop
gain is smaller.
Pn005
Command Pulse Input Selection
Setting 0 to 1
range
Explanation of Set Values
Set value
0 Photocoupler input (+PULS: CN1 pin 3, –PULS: CN1 pin 4, +SIGN: CN1 pin 5, –SIGN: CN1 pin 6)
1 Input for line driver only (+CWLD: CN1 pin 44, –CWLD: CN1 pin 45, +CCWLD: CN1 pin 46,
–CCWLD: CN1 pin 47)
• Select whether to use photocoupler input or input for line driver only for command pulse input.
Pn006 Command Pulse Rotation Direction Switching Selection
Setting 0 to 1
range
Explanation of Set Values
Set value
0 The Servomotor rotates according to the command pulse direction.
1 The Servomotor rotates opposite to the command pulse direction.
• Set the direction in which the Servomotor rotates in response to command pulse input.
7 - 4
Unit
Low ← Machine rigidity → High
Low ← Servo gain →
Pn003 0·1 - - - - - - - - - - - - - - - 31
Low ← Responsiveness → High
Unit
Unit
Unit
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
– Default
setting
High
% Default
setting
– Default
setting
Description
– Default
setting
Description
All
*1 Cycle the –
13
power supply
All
250 Cycle the –
power supply
Position
0 Cycle the Required
power supply
Position
0 Cycle the Required
power supply