Omron SMARTSTEP 2 SERIES User Manual page 283

Table 1 :Parameter Adjustment Guidelines
Pn No.
10 Position Loop Gain
11 Speed Loop Gain
12 Speed Loop Integration Time Constant
13 Speed Feedback Filter Time Constant
14 Torque Command Filter Time Constant
15 Feed-forward Amount
16 Feed-forward Command Filter
18 Position Loop Gain 2
19 Speed Loop Gain 2
1A Speed Loop Integration Time Constant 2
1B Speed Feedback Filter Time Constant 2
1C Torque Command Filter Time Constant 2
1D Notch Filter 1 Frequency
1E Notch Filter 1 Width
20 Inertia Ratio
*1. Input the Inertia Ratio (Pn20). The inertia ratio can be measured with autotuning or set to a
calculated value. When the inertia ratio is unknown, set 300 in Pn20.
Parameter name
7-5 Manual Tuning
Guideline
27
15
37
0
152
0
0
27
15
37
0
152
1500
2
*1
7
7-18