Omron R88M-K Series User Manual page 399

Index
3004 hex Inertia Ratio
3100 hex Position Loop Gain 1
3101 hex Speed Loop Gain 1
Speed Loop Integral Time Constant
3102 hex
1
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
Speed Loop Integral Time Constant
3107 hex
2
Speed Feedback Filter Time
3108 hex
Constant 2
Torque Command Filter Time
3109 hex
Constant 2
3110 hex Speed Feed-forward Gain
Speed Feed-forward Command
3111 hex
Filter
3112 hex Torque Feed-forward Gain
Torque Feed-forward Command
3113 hex
Filter
Gain Switching Input Operating
3114 hex
Mode 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
3118 hex
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
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
24
4490 5000 5600 6100 6600 7200 8100 9000
2500 2800 3100 3400 3700 4000 4500 5000
40
*1
5240 5900 6500 7100 7700 8400 9400 10500
2500 2800 3100 3400 3700 4000 4500 5000
10000 10000 10000 10000 10000 10000 10000 10000
*1
300
50
30
50
33
33
11-3 Realtime Autotuning
AT Machine Rigidity Setting (3003 hex)
25 26 27 28
Estimated load inertia ratio
35 30 30 25
0 0 0 0 0
9 8 7 7 6
0 0 0 0 0
9 8 7 7 6
300 300 300 300
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
50 50 50 50
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
29 30 31
25 20 20
0 0 0
11
6 5 5
0 0 0
6 5 5
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
11-12