Omron OMNUC W Series User Manual page 312

Operation
Response Rigidity
setting
Fn001
(d.00jj)
Low 01
02
03
Medium 04
High g 05
06
07
08
09
10
Note 1. The servo-system loop gain will rise in response to a higher rigidity setting, shortening posi-
tioning time. If the setting is too large, however, the machinery may vibrate, so make the set-
ting small.
Note 2. When the rigidity is set, the user parameters in the above table will change automatically.
H Manual Tuning-related User Parameters
Parame- Parame-
ter No. ter
name
Pn100
Speed
loop gain
Pn101 Speed
loop
integrati
on time
constant
Pn102
Position
loop gain
Pn103 Inertia
ratio
Pn401
Torque
command
filter time
constant
Note Refer to 4-4-4 Parameter Details for details of each parameter.
4-96
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Position Speed loop
loop gain
- -1
(S )
Pn102
15 15
20 20
30 30
40 40
60 60
85 85
120 120
160 160
200 200
250 250
Explanation
Adjusts speed loop responsiveness.
Speed loop integration time constant
Adjusts position loop responsiveness.
Sets the ratio using the mechanical
system inertia to Servomotor rotor inertia
ratio.
Sets the filter time constant for the
internal torque command.
Speed loop
gain integration
(Hz) time
Pn100 constant
(x 0.01 ms)
Pn101
6000
4500
3000
2000
1500
1000
800
600
500
400
Default
setting
80
2000
40
300
40
Chapter 4
Torque Representative
command applications
filter time (mechanical
constant system)
(x 0.01 ms)
Pn401
250 Articulated
robots,
harmonic harmonic
200
drives, chain
drives, belt
drives rack and drives, rack and
130
pinion drives,
etc.
100 XY tables, Car-
tesian-coordi-
nate robots,
general-purpose
machinery, etc.
70 Ball screws
( (direct
50
coupling) coupling),
30
feeders, etc. feeders, etc.
20
15
10
Unit Setting Restart
range power?
Hz 1 to No
2000
x 0.01 ms 15 to No
51200
1/s 1 to No
2000
% 0 to No
1000
x 0.01 ms 0 to No
65535