Omron R88D-KN01L-ECT-L User Manual page 385

Realtime Autotuning Object Table
3100 hex
Rigidity
Position
[0.1/s]
0 20
1 25
2 30
3 40
4 45
5 55
6 75
7 95
8 115
9 140
10 175
11 320
12 390
13 480
14 630
15 720
16 900
17 1,080
18 1,350
19 1,620
20 2,060
21 2,510
22 3,050
23 3,770
24 4,490
25 5,000
26 5,600
27 6,100
28 6,600
29 7,200
30 8,100
31 9,000
*1 When the unbalanced load mode, or the friction compensation and unbalanced load mode is set for realtime autotuning,
9,999 is set before the load characteristic estimation, i.e., estimation of Mass Ratio, Force Command Value Offset, and
Positive/Negative Direction Force Offset, is completed. 10.000 is set after the load characteristic estimation is completed.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Gain 1
3101 hex 3102 hex 3104 hex
Speed
Speed
Integral
[0.1 Hz] [0.01 ms]
[0.1 ms]
15 3,700
20 2,800
25 2,200
30 1,900
35 1,600
45 1,200
60 900
75 700
90 600
110 500
140 400
180 310
220 250
270 210
350 160
400 140
500 120
600 110
750 90
900 80
1,150 70
1,400 60
1,700 50
2,100 40
2,500 40
2,800 35
3,100 30
3,400 30
3,700 25
4,000 25
4,500 20
5,000 20
3105 hex 3106 hex
Force Position Speed
[0.1/s] [0.1 Hz]
1,500 25
1,100 30
900 40
800 45
600 55
500 70
400 95
300 120
300 140
200 175
200 220
126 380
103 460
84 570
65 730
57 840
45 1,050
38 1,260
30 1,570
25 1,880
20 2,410 1,150
16 2,930 1,400
13 3,560 1,700
11 4,400 2,100
9 5,240 2,500
8 5,900 2,800
7 6,500 3,100
7 7,100 3,400
6 7,700 3,700
6 8,400 4,000
5 9,400 4,500
5 10,500 5,000
11 Adjustment Functions
Gain 2
3107 hex 3109 hex
*1
Speed
Force
Integral
[0.01 ms]
[0.1 ms]
15 10,000 1,500
20 10,000 1,100
25 10,000 900
30 10,000 800
35 10,000 600
45 10,000 500
60 10,000 400
75 10,000 300
90 10,000 300
110 10,000 200
140 10,000 200
180 10,000 126
220 10,000 103
270 10,000
350 10,000
400 10,000
500 10,000
600 10,000
750 10,000
900 10,000
10,000
10,000
10,000
10,000
10,000
10,000
10,000
10,000
10,000
10,000
10,000
10,000
11
84
65
57
45
38
30
25
20
16
13
11
9
8
7
7
6
6
5
5
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