Omron OMNUC W Series User Manual page 337

Operation
Operation Procedure
PR02W Front panel
operation key operation
(1 s min.)
(Approx. 1 s later)
(1 s min.)
Note The digits you can manipulate will flash.
4-11-2 Online Auto-tuning Functions
• In System Check Mode, online auto-tuning consists of the rigidity setting (Fn001) and saving tuning
results (Fn007).
H Rigidity Setting During Online Auto-tuning (Fn001)
• The rigidity setting during online auto-tuning sets the target speed loop gain and position loop gain for
the servo system.
• Select the rigidity setting according to the following 10 levels for the mechanical system.
Rigidity setting
Fn001
(d.00jj)
01
02
03
04
05
06
07
08
09
10
Note 1. The higher the rigidity setting, the higher the servo system loop gain, and the shorter the posi-
tioning time. If the set value is too high, however, the machinery may vibrate. If vibration oc-
curs, lower the setting.
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Display
Position loop gain Speed 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
Press the MODE/SET Key to change to System Check
Mode.
Press the Up or Down Key to set function code Fn006.
(See note.)
Press DATA Key (front panel: DATA Key for 1 s min.) to
display "trCLr."
Press the MODE/SET Key to clear the alarm history
data. When the data has been cleared, "donE" will flash
for approximately 1 s.
After "donE" has been displayed, the display will return
to "trCLr."
Press the DATA Key (front panel: DATA Key for 1 s
min.). The display will return to the System Check Mode
function code.
Speed loop
[Hz] integration time
Pn100 constant
[x 0.01 ms]
Pn101
6000
4500
3000
2000
1500
1000
800
600
500
400
Chapter 4
Torque command
filter time
constant
[x 0.01 ms]
Pn401
250
200
130
100
70
50
30
20
15
10
4-121