Omron R88D-KTA5L User Manual page 552

10-2 Realtime Autotuning
Parameter
number
Pn103
Pn104
Pn105
Pn106
Pn107
Pn108
Pn109
Pn110
Pn111
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn119
Pn120
Pn121
Pn122
Pn123
Pn124
Pn125
Pn126
10
Pn127
Pn605
Pn606
Pn607
Pn608
Pn609
Pn610.0,
Pn610.3
Pn611
Pn613
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
 The parameters Pn103, Pn108, Pn110 to Pn127, Pn605, Pn606, Pn610, Pn611, Pn613, Pn623
and Pn624 are set to fixed values.
10-9
Parameter name
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
Torque Command Filter Time Constant 2
Speed Feed-forward Amount
Speed Feed-forward Command Filter
Torque Feed-forward Amount
Torque Feed-forward Command Filter
Gain Switching Input Operating Mode
Selection
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
AT Machine Rigidity Setting (Pn003)
24 25 26 27
0 0 0 0
*1
9 8 7 7
5240 5900 6500 7100
2500 2800 3100 3400
*2
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0
*1
9 8 7 7
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
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
28 29 30 31
0 0 0 0
6 6 5 5
7700 8400 9400 10500
3700 4000 4500 5000
0 0 0 0
6 6 5 5
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
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