Omron G5 Series User Manual page 433

Realtime Autotuning (RTAT) Parameter Table
Parameter
No.
Pn004 Inertia Ratio 1
Pn100 Position Loop Gain
Pn101 Speed Loop Gain
Pn102 Speed Loop Integral Time Constant
Pn103 Speed Feedback Filter Time Constant
Pn104 Torque Command Filter Time Constant
Pn105 Position Loop Gain 2
Pn106 Speed Loop Gain 2
Pn107 Speed Loop Integral Time Constant 2
Pn108 Speed Feedback Filter Time Constant 2
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
Pn114 Gain Switching Input Operating Mode
Selection
Pn115 Switching Mode in Position Control
Pn116 Gain Switching Delay Time in Position
Control
Pn117 Gain Switching Level in Position Control
Pn118 Gain Switching Hysteresis in Position
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
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
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Name
20
15
3,700 2,800 2,200 1,900 1,600 1,200
1,500 1,100
25
15
10,000 10,000 10,000 10,000 10,000 10,000 10,000 10,000
1,500 1,100
300
50
30
50
33
33
100
100
9 Adjustment Functions
Autotuning Machine Rigidity Setting (Pn003)
0 1 2 3
Estimated load inertia ratio
25 30 40 45
20 25 30 35
0 0 0 0
900 800 600
30 40 45 55
20 25 30 35
0 0 0 0
900 800 600
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
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
100 100 100 100
Estimated torque command additional value
Estimated forward torque compensation value
Estimated reverse torque compensation value
0 0 0 0
100 100 100 100
0 0 0 0
0 0 0 0
0 0 0 0
4 5 6 7
55 75 95
45 60 75
900 700
0 0 0 0
500 400 300
70 95 120
45 60 75
0 0 0 0
500 400 300
300 300 300
50 50 50
0 0 0 0
0 0 0 0
1 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
100 100 100
0 0 0 0
100 100 100
0 0 0 0
0 0 0 0
0 0 0 0
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