Omron R88M-K Series User Manual page 328

9-1 Basic Settings
Refer to 11-3 Realtime Autotuning on page 11-6.
If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting
the machine to shock. Always start with a small setting, and gradually increase the setting while
monitoring machine operation.
Inertia Ratio
3004 hex
Setting
range
Size
Set the load inertia as a percentage of the motor rotor inertia.
3004 hex = (Load inertia/Rotor inertia) × 100%
When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain 1 (3101 hex) and Speed
Loop Gain 2 (3106 hex) is Hz.
If the Inertia Ratio (3004 hex) is set larger than the actual value, the setting for speed loop gain will
increase. If the Inertia Ratio (3004 hex) is set smaller than the actual value, the setting for speed
loop gain will decrease.
Operation Switch when Using Absolute Encoder
3015 hex
9
Setting
range
Size
Set the operating method for the 17-bit absolute encoder.
Explanation of Set Values
9-3
Low
Low
3003h 0.1 - - - - - - - - - - - - - - - 31
Low
Precautions for Correct Use
0 to 10,000 Unit
2 bytes (INT16)
0 to 2 Unit
2 bytes (INT16)
Set value
0 Use as absolute encoder.
1 Use as incremental encoder.
2 Use as absolute encoder but ignore multi-rotation counter overflow.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
←Machine rigidity→ High
←Servo gain→ High
←Responsiveness→ High
Default
%
setting
Access RW
Default
−
setting
Access RW
Description
All
Data
250 B
attribute
PDO map Not possible.
csp
Data
2
attribute
PDO map Not possible.
C