Omron OMNUC G5 Series User Manual page 350

11-3 Realtime Autotuning
Realtime Autotuning (RTAT) Object Table
3004 hex Inertia Ratio
3100 hex Position Loop Gain 1
3101 hex Speed Loop Gain 1
3102 hex
11
3103 hex
3104 hex
3105 hex Position Loop Gain 2
3106 hex Speed Loop Gain 2
3107 hex
3108 hex
3109 hex
3110 hex Speed Feed-forward Gain
3111 hex
3112 hex Torque Feed-forward Gain
3113 hex
3114 hex
3115 hex Switching Mode in Position Control
3116 hex
3117 hex
3118 hex
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,
3610 hex.1
3623 hex
3624 hex Disturbance Observer Filter Setting
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
11-9
Index Name
Speed Loop Integral Time Constant
1
Speed Feedback Filter Time
Constant 1
Torque Command Filter Time
*1
Constant 1
Speed Loop Integral Time Constant
2
Speed Feedback Filter Time
Constant 2
Torque Command Filter Time
*1
Constant 2
Speed Feed-forward Command
Filter
Torque Feed-forward Command
Filter
Gain Switching Input Operating
Mode Selection
Gain Switching Delay Time in
Position Control
Gain Switching Level in Position
Control
Gain Switching Hysteresis in
Position Control
Function Expansion Setting
Disturbance Torque Compensation
Gain
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
AT Machine Rigidity Setting (3003 hex)
0 1 2 3
Estimated load inertia ratio
20 25 30 40
15 20 25 30
3700 2800 2200 1900 1600 1200
0 0 0 0
1500 1100 900 800
25 30 40 45
15 20 25 30
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0
1500 1100 900 800
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
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
4 5 6 7
45 55 75 95
35 45 60 75
900 700
0 0 0 0
600 500 400 300
55 70 95 120
35 45 60 75
0 0 0 0
600 500 400 300
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
30 30 30 30
50 50 50 50
33 33 33 33
33 33 33 33
0 0 0 0
0 0 0 0
0 0 0 0