Automatically Set Parameters - Omron SMARTSTEP 2 R88M-G Series User Manual

7-3 Autotuning

Automatically Set Parameters

The following parameters will be set automatically according to the autotuning machine rigidity
number selected.
Pn
No.
10 Position Loop Gain
11 Speed Loop Gain
12 Speed Loop Integration Time Constant
13 Speed Feedback Filter Time Constant
14 Torque Command Filter Time Constant
18 Position Loop Gain 2
19 Speed Loop Gain 2
1A Speed Loop Integration Time Constant 2
1B Speed Feedback Filter Time Constant 2
1C Torque Command Filter Time Constant 2
20 Inertia Ratio
7
Pn
No.
10 Position Loop Gain
11 Speed Loop Gain
12 Speed Loop Integration Time Constant
13 Speed Feedback Filter Time Constant
14 Torque Command Filter Time Constant
18 Position Loop Gain 2
19 Speed Loop Gain 2
1A Speed Loop Integration Time Constant 2
1B Speed Feedback Filter Time Constant 2
1C Torque Command Filter Time Constant 2
20 Inertia Ratio
7-11
Parameter name
Parameter name
 The parameter default values are set according to the machine rigidity number.
Reference
The parameter settings are automatically changed when autotuning is executed.
Machine Rigidity No.
0 1 2 3
27 32 39 48
15 18 22 27
37 31 25 21
0 0 0 0
152 126 103 84
31 38 46 57
15 18 22 27
1000 1000 1000 1000
0 0 0 0
152 126 103 84
Estimated load inertia ratio
Machine Rigidity No.
8 9 A B
135 162 206 251
75 90 115 140
9 8 7 6
0 0 0 0
30 25 25 25
157 188 241 293
75 90 115 140
1000 1000 1000 1000
0 0 0 0
30 25 20 16
Estimated load inertia ratio
4 5 6 7
63 72 90 108
35 40 50 60
16 14 12 11
0 0 0 0
65 57 45 38
73 84 105 126
35 40 50 60
1000 1000 1000 1000
0 0 0 0
65 57 45 38
C D E F
305 377 449 557
170 210 250 310
5 4 4 3
0 0 0 0
25 25 25 25
356 440 524 649
170 210 250 310
1000 1000 1000 1000
0 0 0 0
13 11 10 10