Omron OMNUC W Series User Manual page 310

Operation
H Selecting Mechanical Rigidity During Online Auto-tuning (Fn001)
• Setting the rigidity during online auto-tuning sets the servo system's target speed loop gain and posi-
tion loop gain.
• Select the rigidity setting (Fn001) from the following 10 levels to suit the mechanical system.
Response Rigidity
setting
Fn001
(d.00jj)
Low 01
02
03
Medium 04
High g 05
06
07
08
09
10
Note 1. The servo-system loop gain will rise in response to a higher rigidity setting, shortening posi-
tioning time. If the setting is too large, however, the machinery may vibrate, so make the set-
ting small.
Note 2. When setting the rigidity, the user parameters in the above table will change automatically.
Note 3. If you enable auto-tuning without setting the rigidity, the user parameter settings (Pn102,
Pn100, Pn101, and Pn401) will be used as the tuning target values.
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Position Speed loop
loop gain gain
- -1
(S ) (Hz)
Pn102 Pn100
15 15
20 20
30 30
40 40
60 60
85 85
120 120
160 160
200 200
250 250
Speed loop Torque
integration command
time filter time
constant constant
(x 0.01 ms) (x 0.01 ms)
Pn101 Pn401
6000 250
4500 200
3000 130
2000 100
1500 70
1000 50
800 30
600 20
500 15
400 10
Chapter 4
Representative
applications
(mechanical
system)
Articulated
robots,
harmonic harmonic
drives, chain
drives, belt
drives, rack and drives rack and
pinion drives,
etc.
XY tables, Car-
tesian-coordi-
nate robots,
general-pur-
pose machin-
ery, etc.
Ball screws
( (direct
coupling), coupling)
feeders, etc. feeders, etc.