Omron OMNUC G User Manual page 376

7-3 Normal Mode Autotuning
Normal Mode Autotuning (AT) Parameter Tables
Parameter
Parameter name
No.
Position Loop
Pn010
Gain
Speed Loop
Pn011
Gain
Speed Loop
Pn012 Integration Time
Constant
Speed Feed-
Pn013 back Filter Time
Constant
Torque
Command
Pn014
Filter Time
Constant
Speed Feed-
Pn015
forward Amount
Feed-forward
Pn016 Filter Time
Constant
7
Position Loop
Pn018
Gain 2
Speed Loop
Pn019
Gain 2
Speed Loop
Pn01A Integration
Time Constant 2
Speed Feed-
Pn01B back Filter Time
Constant 2
Torque Com-
Pn01C mand Filter Time
Constant 2
Pn020 Inertia Ratio
Instantaneous
Pn027 Speed Observer
Setting
Gain Switching
Pn030 Operating Mode
Selection
Gain Switch
Pn031
Setting
Gain Switch
Pn032
Time
Gain Switch
Pn033
Level Setting
Gain Switch
Pn034 Hysteresis
Setting
Position Loop
Pn035 Gain Switching
Time
*1. The lower limit is set to 10 when using a 17-bit encoder and 25 when using a 2,500-p/r encoder.
*2. The value for a 17-bit absolute encoder. The value for a 2500-p/r incremental encoder is 25.
7-13
0 1 2 3
120 320 390 480 630 720 900 1080 1350 1620 2060 2510 3050 3770 4490 5570
90 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2500 3100
620 310 250 210 160 140 120 110 90
0 0 0 0
253 126 103 84
*1
300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300
50 50 50 50
190 380 460 570 730 840 1050 1260 1570 1820 2410 2930 3560 4400 5240 6490
90 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2100 3100
9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
0 0 0 0
253 126 103 84
*1
0 0 0 0
1 1 1 1
10 10 10 10
30 30 30 30
50 50 50 50
33 33 33 33
20 20 20 20
AT Machine Rigidity Selection (Pn022)
4 5 6 7 8 9
80
0 0 0 0 0 0
65 57 45 38 30 25 20
50 50 50 50 50 50
0 0 0 0 0 0
65 57 45 38 30 25 20
Estimated load inertia ratio
0 0 0 0 0 0
1 1 1 1 1 1
10 10 10 10 10 10
30 30 30 30 30 30
50 50 50 50 50 50
33 33 33 33 33 33
20 20 20 20 20 20
A B C D E
70 60 50 40 40 30
0 0 0 0 0
*2 *2 *2 *2 *2
16 13 11 10 10
50 50 50 50 50 50
0 0 0 0 0
*2 *2 *2 *2 *2
16 13 11 10 10
0 0 0 0 0
1 1 1 1 1
10 10 10 10 10 10
30 30 30 30 30 30
50 50 50 50 50 50
33 33 33 33 33 33
20 20 20 20 20 20
F
0
*2
0
*2
0
1