Omron OMNUC G5 R88M-K series User Manual page 360

10-3 Realtime Autotuning
Realtime Autotuning (RTAT) Parameter Table
Parameter
number
Pn004
Pn100
Pn101
Pn102
Pn103
Pn104
Pn105
Pn106
Pn107
Pn108
Pn109
Pn110
Pn111
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn119
Pn120
Pn121
10
Pn122
Pn123
Pn124
Pn125
Pn126
Pn127
Pn607
Pn608
Pn609
Pn610.0,
Pn610.1
Pn623
Pn624
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
10-9
Parameter name
Inertia Ratio
Position Loop Gain 1
Speed Loop Gain 1
Speed Loop Integral Time Constant 1
Speed Feedback Filter Time Constant 1
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
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
SWITCHING mode in Torque Control
Gain Switching Delay Time in Torque
Control
Gain Switching Level in Torque Control
Gain Switching Hysteresis in Torque
Control
Torque Command Value Offset
Forward Direction Torque Offset
Reverse Direction Torque Offset
Function Expansion Setting
Disturbance Torque Compensation Gain
Disturbance Observer Filter Setting
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
AT Machine Rigidity Setting (Pn003)
0 1 2 3
Estimated load inertia ratio
20 25 30 40
15 20 25 30
3700 2800 2200 1900
0 0 0 0
*1
1500 1100 900 800
25 30 40 45
15 20 25 30
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0
*1
1500 1100 900 800
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 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
Estimated torque command additional value
Estimated forward direction torque compensation
Estimated reverse direction torque compensation
0 0 0 0
0 0 0 0
0 0 0 0
4 5 6 7
45 55 75 95
35 45 60 75
1600 1200 900 700
0 0 0 0
600 500 400 300
55 70 95 120
35 45 60 75
0 0 0 0
600 500 400 300
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
0 0 0 0
0 0 0 0