Omron R88D-KTA5L User Manual page 550

10-2 Realtime Autotuning
Parameter
number
Pn115
Pn116
Pn117
Pn118
Pn119
Pn120
Pn121
Pn122
Pn123
Pn124
Pn125
Pn126
Pn127
Pn605
Pn606
Pn607
Pn608
Pn609
Pn610.0,
Pn610.3
Pn611
Pn613
10
Pn623
Pn624
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis
Parameter
number
Pn004
Pn100
Pn101
Pn102
Pn103
Pn104
Pn105
Pn106
Pn107
Pn108
10-7
Parameter name
Switching Mode in Position Control
Gain Switching Delay Time in Position Control 30
Gain Switching Level in Position Control
Gain Switching Hysteresis in Position
Control
Position Gain Switching Time
Switching Mode in Speed Control
Gain Switching Delay Time in Speed Control
Gain Switching Level in Speed Control
Gain Switching Hysteresis in Speed Control 0
Switching Mode in Torque Control
Gain Switching Delay Time in Torque
Control
Gain Switching Level in Torque Control
Gain Switching Hysteresis in Torque
Control
Gain 3 Effective Time
Gain 3 Ratio Setting
Torque Command Value Offset
Forward Direction Torque Offset
Reverse Direction Torque Offset
Function Expansion Setting
Electric Current Response Setting
Inertia Ratio 2
Disturbance Torque Compensation Gain
Disturbance Observer Filter Setting
mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque
command value offset, and forward/reverse direction torque offset) is completed. The value will
change to 10000 after the load characteristic estimation is completed.
Parameter name
Inertia Ratio
Position Loop Gain
Speed Loop Gain
Speed Loop Integral Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant 1
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integral Time Constant 2
Speed Feedback Filter Time Constant 2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
AT Machine Rigidity Setting (Pn003)
8 9 10 11
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
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 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
100 100 100 100
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
0 0 0 0
100 100 100 100
0 0 0 0
0 0 0 0
0 0 0 0
AT Machine Rigidity Setting (Pn003)
16 17 18 19
Estimated load inertia ratio
900 1080 1350 1620
500 600 750 900
120 110 90 80
0 0 0 0
*1
45 38 30 25
1050 1260 1570 1880
500 600 750 900
*2
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0
12 13 14 15
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
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
100 100 100 100
0 0 0 0
100 100 100 100
0 0 0 0
0 0 0 0
0 0 0 0
20 21 22 23
2060 2510 3050 3770
1150 1400 1700 2100
70 60 50 40
0 0 0 0
20 16 13 11
2410 2930 3560 4400
1150 1400 1700 2100
0 0 0 0