Omron R88D-KTA5L User Manual page 549

Parameter
number
Pn122 Gain Switching Level in Speed Control
Pn123 Gain Switching Hysteresis in Speed Control 0
Pn124 Switching Mode in Torque Control
Gain Switching Delay Time in Torque
Pn125
Control
Pn126 Gain Switching Level in Torque Control
Gain Switching Hysteresis in Torque
Pn127
Control
Pn605 Gain 3 Effective Time
Pn606 Gain 3 Ratio Setting
Pn607 Torque Command Value Offset
Pn608 Forward Direction Torque Offset
Pn609 Reverse Direction Torque Offset
Pn610.0,
Function Expansion Setting
Pn610.3
Pn611 Electric Current Response Setting
Pn613 Inertia Ratio 2
Pn623 Disturbance Torque Compensation Gain
Pn624 Disturbance Observer Filter Setting
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis
mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque
command value offset, and forward/reverse direction torque offset) is completed. The value will
change to 10000 after the load characteristic estimation is completed.
Parameter
number
Pn004 Inertia Ratio
Pn100 Position Loop Gain
Pn101 Speed Loop Gain
Pn102 Speed Loop Integral Time Constant
Pn103 Speed Feedback Filter Time Constant
Pn104 Torque Command Filter Time Constant 1
Pn105 Position Loop Gain 2
Pn106 Speed Loop Gain 2
Pn107 Speed Loop Integral Time Constant 2
Pn108 Speed Feedback Filter Time Constant 2
Pn109 Torque Command Filter Time Constant 2
Pn110 Speed Feed-forward Amount
Pn111 Speed Feed-forward Command Filter
Pn112 Torque Feed-forward Amount
Pn113 Torque Feed-forward Command Filter
Gain Switching Input Operating Mode
Pn114
Selection
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter name
0
0
0
0
0
0
100
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
0
100
0
0
0
Parameter name
Estimated load inertia ratio
115
90
600
0
*1
300
140
90
*2
10000 10000 10000 10000 10000 10000 10000 10000
0
*1
300
300
50
0
0
1
10-2 Realtime Autotuning
AT Machine Rigidity Setting (Pn003)
0 1 2 3 4
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
100 100 100 100
0 0 0 0
100 100 100 100
0 0 0 0
0 0 0 0
0 0 0 0
AT Machine Rigidity Setting (Pn003)
8 9 10 11 12
140 175 320 390
110 140 180 220
500 400 310 250
0 0 0 0
200 200 126 103
175 220 380 460
110 140 180 220
0 0 0 0
200 200 126 103
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
5 6 7
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
100 100 100
0 0 0
100 100 100
0 0 0
0 0 0
0 0 0
10
13 14 15
480 630 720
270 350 400
210 160 140
0 0 0
84 65 57
570 730 840
270 350 400
0 0 0
84 65 57
300 300 300
50 50 50
0 0 0
0 0 0
1 1 1
10-6