Omron R88M-K Series User Manual page 397

Index
3004 hex Inertia Ratio
3100 hex Position Loop Gain 1
3101 hex Speed Loop Gain 1
3102 hex Speed Loop Integral Time Constant 1 600
Speed Feedback Filter Time
3103 hex
Constant 1
Torque Command Filter Time
3104 hex
Constant 1
3105 hex Position Loop Gain 2
3106 hex Speed Loop Gain 2
3107 hex Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000
Speed Feedback Filter Time
3108 hex
Constant 2
Torque Command Filter Time
3109 hex
Constant 2
3110 hex Speed Feed-forward Gain
3111 hex Speed Feed-forward Command Filter
3112 hex Torque Feed-forward Gain
Torque Feed-forward Command
3113 hex
Filter
Gain Switching Input Operating Mode
3114 hex
Selection
3115 hex Switching Mode in Position Control
Gain Switching Delay Time in
3116 hex
Position Control
Gain Switching Level in Position
3117 hex
Control
Gain Switching Hysteresis in Position
3118 hex
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
Disturbance Torque Compensation
3623 hex
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.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Name
115
300
*1
140
300
*1
300
11-3 Realtime Autotuning
AT Machine Rigidity Setting (3003 hex)
8 9 10 11 12
Estimated load inertia ratio
140 175 320 390
90 110 140 180 220
500 400 310 250
0 0 0 0 0
200 200 126 103
175 220 380 460
90 110 140 180 220
0 0 0 0 0
200 200 126 103
300 300 300 300
50 50 50 50 50
0 0 0 0 0
0 0 0 0 0
1 1 1 1 1
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
30 30 30 30 30
50 50 50 50 50
33 33 33 33 33
33 33 33 33 33
Estimated if object 3002 hex = 3.
Estimated if object 3002 hex = 4.
Estimated if object 3002 hex = 4.
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
13 14 15
480 630 720
270 350 400
210 160 140
0 0 0
11
84 65 57
570 730 840
270 350 400
0 0 0
84 65 57
300 300 300
50 50 50
0 0 0
0 0 0
1 1 1
30 30 30
50 50 50
33 33 33
33 33 33
0 0 0
0 0 0
0 0 0
11-10