Omron OMNUC W Series User Manual page 265

Operation
• Set the condition to switch to P control using Servomotor rated torque ratio (%).
• The servo switches to P control if the internal torque command exceeds the setting level.
Pn10d P control switching (speed command) (Position, speed, internally-set speed control)
Setting 0 to 10000
range
• You must set Pn10d if you set Pn10b.0 (P control switching condition) to 1 (switching by speed com-
mand).
• Set the speed to switch to P control.
• The servo switches to P control if the speed command exceeds the setting level.
Pn10E P control switching (acceleration command) (Position, speed, internally-set speed control)
Setting 0 to 3000
range
• You must set Pn10E if you set Pn10b.0 (P control switching condition) to 2 (switching by acceleration
command).
• Set the acceleration to switch to P control.
• The servo switches to P control if the acceleration command value exceeds the setting level.
Pn10F P control switching (deviation pulse)
Setting 0 to 10000
range
• You must set Pn10F if you set Pn10b.0 (P control switching condition) to 3 (switching by deviation
pulse).
• Set the deviation pulse to switch to P control.
• The servo switches to P control if the deviation counter residual pulses exceed the setting level.
D Online Auto-tuning Setting (Pn110: Default Setting 0012)
• Online auto-tuning is a control function that constantly maintains the target speed loop gain and posi-
tion loop gain using the operating load inertia measured by the Servo Driver. Use this function to adjust
the gain easily even if you are using a servo system for the first time.
• The following four user parameters are set automatically by online auto-tuning.
S Pn100: Speed loop gain
S Pn101: Speed loop integration time constant
S Pn102: Position loop gain
S Pn401: Torque command filter time constant
Note You cannot use online auto-tuning in the following cases.
S Control using torque command mode.
S Speed control loop using P control (Pn10b.1 = 1)
S Control using No. 2 gain GSEL (gain switching input).
S Using torque feed-forward function (Pn002.0 = 2)
S Using speed feedback compensation function (Pn110.1 = 0)
Note Refer to 4-7-1 Online Auto-tuning for details.
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Unit r/min
Unit x 10 r/min/s Default
Unit Command
unit
Default 0
setting
0
setting
Default 10
setting
Chapter 4
Restart No
power?
Restart No
power?
Restart No
power?
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