Omron OMNUC W Series User Manual page 262

Operation
Pn103 Inertia ratio (Position, speed, internally-set speed control)
Setting 0 to 10000
range
• Set the mechanical system inertia (load inertia for Servomotor shaft conversion) using the ratio (%) of
the Servomotor rotor inertia. If the inertia ratio is set incorrectly, the Pn103 (inertia ratio) value will also
be incorrect.
• This parameter is the initial online auto-tuning value. After performing online auto-tuning, the correct
value will be written to Pn103 if the tuning results are saved. Refer to 4-11-2 Online Auto-tuning for
details.
Pn104 No. 2 speed loop gain (Position, speed, internally-set speed control)
Setting 1 to 2000
range
Pn105 No. 2 speed loop integral time constant (Position, speed, internally-set speed control)
Setting 15 to 51200 Unit
range
Pn106 No. 2 position loop gain (Position, speed with position lock)
Setting 1 to 2000
range
• These parameters are gain and time constants selected when using GSEL (gain switching input).
• If the mechanical system inertia changes greatly or if you want to change the responsiveness for when
the Servomotor is rotating and when it is stopped, you can achieve the appropriate control by setting
the gain and time constant beforehand for each of these conditions, and then switching according to
the conditions.
• We recommend using Racks on which online auto-tuning can set to be always enabled. Online auto-
tuning cannot be always enabled under the following conditions.
S When using torque feed-forward function.
S When load inertia fluctuates by 200 ms maximum.
S During operations where rotation speed does not exceed 500 r/min., or output torque does not
exceed 50% of the rated torque.
S When external power is constantly applied, as with the vertical axis.
Note When the No. 2 gain is selected, online auto-tuning is normally disabled.
Pn107 Bias rotational speed (Position)
Setting 0 to 450
range
Pn108 Bias addition band (Position)
Setting 0 to 250
range
• These two parameters set the position control bias.
• This function shortens the positioning time by adding the number of bias rotations to the speed com-
mand (i.e., commands to the speed control loop).
• When the deviation counter residual pulses exceed the Pn108 (bias addition band) setting, the speed
set in Pn107 (bias rotational speed) is added to the speed command, and when they are within the
limits for Pn108, it stops being added.
4-46
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Unit %
Unit Hz
x 0.01 ms
Unit 1/s
Unit r/min.
Unit r/min.
Default 300
setting
Default 80
setting
Default 2000
setting
Default 40
setting
Default 0
setting
Default 7
setting
Chapter 4
Restart No
power?
Restart No
power?
Restart No
power?
Restart No
power?
Restart No
power?
Restart No
power?