Omron OMNUC G5 R88M-K series User Manual page 362

10-3 Realtime Autotuning
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
Pn122
10
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.
10-11
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)
16 17 18 19
Estimated load inertia ratio
900 1080 1350 1620
500 600 750 900
120 110 90 80
0 0 0 0
*1
45 38 30 25
1050 1260 1570 1880
500 600 750 900
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0
*1
45 38 30 25
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
20 21 22 23
2060 2510 3050 3770
1150 1400 1700 2100
70 60 50 40
0 0 0 0
20 16 13 11
2410 2930 3560 4400
1150 1400 1700 2100
0 0 0 0
20 16 13 11
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