Omron R88D-KTA5L User Manual page 502

8-7 Special Parameters
9 to 10
*1 When load characteristic estimation is disabled, inertia ratio updating is also disabled, even if the latter
 This parameter is set at the bit level. Unexpected operation may occur if the bits are not set
correctly. Set this parameter with care.
Setting Bit-level Parameters
Use the following procedure to calculate the set value if all settings are not 0.
8
8-65
Bits Name
8 Fixed parameter setting
Gain switching setting
is set to be updated with the estimation result. When torque compensation is updated with the
estimation result, load characteristic estimation is disabled.
Safety Points
Reference
(1) Check the lowest bit for each setting.
Example: Lowest bit for torque compensation: 4
(2) Multiply the set value by 2 to the power of the lowest bit.
Example: The value for weak friction compensation for the torque compensation would be 2
× 3 = 48.
(3) Repeat steps 1 and 2 for all settings and add the results to obtain the set value for Pn632.
Example: The calculation is as follows for the following settings: Load characteristic
estimation: Enabled, Inertia ratio updating: Enabled, Torque compensation: Weak friction
compensation, Rigidity setting: Enabled, Fixed parameters: Set to fixed values, and Gain
switching: Enabled.
0 × 1 + 2 2 × 1 + 2 4 × 3 + 2
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Enable or disable the normally fixed parameters.
0: Use the current settings
1: Set to fixed values
Select the setting method for parameters related to gain
switching when realtime autotuning is enabled.
0: Use the current settings
1: Disable gain switching
2: Enable gain switching
7 × 1 + 2 8 × 1 + 2 9 × 2 = 1461
Explanation
4