Omron OMNUC G5 R88M-K series User Manual page 332

8-7 Special Parameters
9 to 10
*1. When the load characteristic estimation is set to disabled, the inertial ratio updating is also disabled,
regardless the latter is set to update by the estimation result. When the torque compensation are
updated by the estimation result, the load characteristic estimation is disabled.
 This parameter must be set in units of bits. Users must be fully aware that proper operation of your
system is not guaranteed, if you have incorrect 1parameter setting. Pay a particular attention when
you set them.
8
Procedure to set the parameter bit by bit
Follow these steps and calculate the set values, when you make any setting other than 0.
Pn633
Unused
Setting
range
Pn634
Hybrid Vibration Suppression Gain
Setting
range
 Set the hybrid vibration suppression gain during full closing control.
 In general, set it to the same value as the position loop gain, and finely adjust it based on the situation.
 Refer to "10-10 Hybrid Vibration Suppression Function (P.10-35)".
8-57
Bit Name
7 Rigidity setting
8 Fixed parameter setting
Gain switch setting
Precautions for Safe Use
Reference
(1) Confirm the least significant bit (LSB) in each set value.
E.g. LSB of Torque compensation function: 4
(2) Multiply the set value by the (LSB) power of 2.
E.g. To set the torque compensation to Friction compensation (small): The set value is 3.
The exponent is 4.
4
 3 = 48
2
(3) Repeat Step (1) and (2) for all bit settings. Add all results and set the outcome to Pn632.
E.g. When all of the Load characteristic estimation, the Inertia ratio updating, the Rigidity
setting, and the Gain switch setting are enabled, the Torque compensation is set to
Friction compensation (small), and the Fixed parameter setting is set to a Fixed
value:
0 2
 1  2  1  2
2

Unit
0 to 30000 Unit
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Select to enable or disable the basic gain setting by the Realtime
Autotuning Machine Rigidity Setting (Pn003).
0: Disable
1: Enable
Select whether to allow changes on the parameters which
normally are fixed.
0: Use the present setting.
1: Set it to a fixed value.
Select the method to set the parameters that relate to gain
switching while the Realtime Autotuning is enabled.
0: Use the present setting.
1: Disable the gain switching.
2: Enable the gain switching.
4 7 8 9
 3  2  1  2  1  2
Default

setting
Default
0.1/s
setting
Description
 2 = 1461
Data

attribute
Full closing
Data
0
attribute
All

B