Omron R88M-K User Manual page 485

*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the
value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value off-
set, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load
characteristic estimation is completed.
Index
3004 hex Inertia Ratio
3100 hex Position Loop Gain 1
3101 hex Speed Loop Gain 1
3102 hex Speed Loop Integral Time
Constant 1
3103 hex Speed Feedback Filter Time
Constant 1
3104 hex Torque Command Filter Time
Constant 1
3105 hex Position Loop Gain 2
3106 hex Speed Loop Gain 2
3107 hex Speed Loop Integral Time
Constant 2
3108 hex Speed Feedback Filter Time
Constant 2
3109 hex Torque Command Filter Time
Constant 2
3110 hex Speed Feed-forward Gain
3111 hex Speed Feed-forward Command
Filter
3112 hex Torque Feed-forward Gain
3113 hex Torque Feed-forward Command
Filter
3114 hex Gain Switching Input Operating
Mode Selection
3115 hex Switching Mode in Position Control
3116 hex Gain Switching Delay Time in
Position Control
3117 hex Gain Switching Level in Position
Control
3118 hex Gain Switching Hysteresis in
Position Control
3119 hex Position Gain Switching Time
3607 hex Torque Command Value Offset
3608 hex Forward Direction Torque Offset
3609 hex Reverse Direction Torque Offset
3610 hex.0, Function Expansion Setting
3610 hex.1
3623 hex Disturbance Torque Compensation
Gain
3624 hex Disturbance Observer Filter
Setting
*1 This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Name
115
90
600
300
*1
140
90
10000 10000 10000 10000 10000 10000 10000 10000
*2
300
*1
300
50
30
50
33
33
11 Adjustment Functions
AT Machine Rigidity Setting (3003 hex)
8 9 10 11
Estimated load inertia ratio
140 175 320
110 140 180
500 400 310
0 0 0 0
200 200 126
175 220 380
110 140 180
0 0 0 0
200 200 126
300 300 300
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
50 50 50
33 33 33
33 33 33
Estimated torque command additional value
Estimated positive torque compensation value
Estimated negative torque compensation value
0 0 0 0
0 0 0 0
0 0 0 0
12 13 14 15
390 480 630 720
220 270 350 400
250 210 160 140
0 0 0 0
103 84 65 57
460 570 730 840
220 270 350 400
0 0 0 0
103 84 65 57
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
11-11
11