Omron OMNUC G User Manual page 418

9-1 Parameter Tables
Pn
Parameter name Setting
No.
Realtime
021 Autotuning Mode
Selection
Realtime
Autotuning
022
Machine Rigidity
Selection
Adaptive Filter
023
Selection
9
Vibration Filter
024
Selection
9-7
Explanation
Sets the operating mode for realtime autotuning.
Realtime
Autotuning
0 Disabled
1
Horizontal axis
2
mode
3
4
Vertical axis
5
mode
6
Gain switching
7
disable mode
Sets the machine rigidity for realtime autotuning.
Cannot be set to 0 when using the Parameter Unit.
Enables or disables the adaptive filter.
0 Adaptive filter disabled.
Adaptive filter enabled. Adaptive
1
operation performed.
Adaptive filter enabled. Adaptive
2 operation will not be performed
(i.e. retained).
Selects the vibration filter type and the switching
mode.
Filter type selection
Normal type:
Vibration frequency setting range:
10.0 to 200.0 Hz
Low-pass type:
Vibration frequency setting range:
1.0 to 200.0 Hz
Switching mode selection
No switching: Both 1 and 2 are enabled
Switching with command direction:
Selects Vibration Frequency 1 in forward
direction (Pn02B, Pn02C)
Selects Vibration Frequency 2 in reverse
direction (Pn02D, Pn02E)
Filter Type
0
No switching
1
Normal type
Switching with com-
2
mand direction
3
No switching
4
Low-pass type
Switching with com-
5
mand direction
Default
Setting
Degree of change
in load inertia
---
Almost no change
Gradual changes
0
Sudden changes
Almost no change
Gradual changes
Sudden changes
Almost no change
2
0
0
Switching mode
Setting Set
Unit
Range value
--- 0 to 7 B
--- 0 to F B
--- 0 to 2 B
--- 0 to 5 C