Online Auto-Tuning Functions - Omron R88M-W User Manual

Operation
Operation Procedure
PR02W Front panel
operation key operation
(1 s min.)
(Approx. 1 s later)
(1 s min.)
Note The digits you can manipulate will flash.

4-11-2 Online Auto-tuning Functions

• In System Check Mode, online auto-tuning consists of the rigidity setting (Fn001) and saving tuning
results (Fn007).
H Rigidity Setting During Online Auto-tuning (Fn001)
• The rigidity setting during online auto-tuning sets the target speed loop gain and position loop gain for
the servo system.
• Select the rigidity setting according to the following 10 levels for the mechanical system.
Rigidity setting Position loop gain
Fn001
(d.00jj)
01 15
02 20
03 30
04 40
05 60
06 85
07 120
08 160
09 200
10 250
Note 1. The higher the rigidity setting, the higher the servo system loop gain, and the shorter the posi-
tioning time. If the set value is too high, however, the machinery may vibrate. If vibration oc-
curs, lower the setting.
Display
Press the MODE/SET Key to change to System Check
Mode.
Press the Up or Down Key to set function code Fn006.
(See note.)
Press DATA Key (front panel: DATA Key for 1 s min.) to
display "trCLr."
Press the MODE/SET Key to clear the alarm history
data. When the data has been cleared, "donE" will flash
for approximately 1 s.
After "donE" has been displayed, the display will return
to "trCLr."
Press the DATA Key (front panel: DATA Key for 1 s
min.). The display will return to the System Check Mode
function code.
Speed loop gain
–1
[s ] [Hz]
Pn102 Pn100
15
20
30
40
60
85
120
160
200
250
Explanation
Speed loop Torque command
integration time
constant
[x 0.01 ms]
Pn101
6000 250
4500 200
3000 130
2000 100
1500 70
1000 50
800 30
600 20
500 15
400 10
Chapter 4
filter time
constant
[x 0.01 ms]
Pn401
4-133