Omron R88M-W60010T User Manual page 295

Operation
Note Advanced auto-tuning cannot be used in the following cases.
• When the load inertia fluctuates at 200 ms or less.
• When the load rigidity is low and mechanisms (such as belt drive inputs) tends to vibrate, or
viscosity friction is high.
• When the range of movement is narrow, e.g., only several rotations.
• When movement is possible only in a fixed direction.
• When P (proportional) control is used.
Use the following method to make adjustments if any of the above conditions apply, or if operation is
not satisfactory when normal auto-tuning is executed.
• Set Pn103 (Inertia ratio), and then execute one-parameter tuning or manual adjustment.
User Parameters Related to Advanced Auto-tuning
■
• The following user parameters are set automatically by advanced auto-tuning.
Pn100 Speed loop gain
Pn101 Speed loop integration constant
Pn102 Position loop gain
Pn103 Inertia ratio
Pn401 1st step 1st torque command filter time constant
• The following parameters are also set automatically as required.
Pn408.0 Torque command setting -- Notch filter selection 1
Pn409 Notch filter 1 frequency
Pn408.2 Torque command setting -- Notch filter selection 2
Pn40C Notch filter 2 frequency
• If the electronic gear ratio is not set within the following range, an A042 error (parameter combina-
tion error) will occur. Always set the electronic gear ratio within the following range.
Electronic gear ratio (Pn20E/Pn210) ≤ 218
4-6-3 One-parameter Tuning
What is One-parameter Tuning?
■
• One-parameter tuning is a function that smoothly changes the status of four gain parameters
(Pn100, Pn101, Pn102, Pn401) during operation by changing just one tuning level.
• One-parameter tuning is used to adjust the Servo gain at the user's discretion, while checking
Servo and machinery responses.
■ Parameters Related to One-parameter Tuning
• The following user parameters are set automatically by one-parameter tuning.
Pn100 Speed loop gain
Pn101 Speed loop integration constant
Pn102 Position loop gain
Pn401 1st step 1st torque command filter time constant
Chapter 4
4-99