Omron OMNUC R88D-WT15HF User Manual page 318

Operation
S Using torque feed-forward function (Pn002.0 = 2)
S Using speed feedback compensation function (Pn110.1 = 0)
Note Refer to 4-7-1 Online Auto-tuning for details.
Pn110.0 Online auto-tuning setting –– Online auto-tuning selection (Position, speed, internally-set
speed control)
Setting 0 to 2
range
Setting Explanation
Setting
0 After the power is turned ON, auto-tuning is only performed for the initial operation.
1 Auto-tuning is always performed.
2 Auto-tuning is not used.
• Select the auto-tuning function you want to use.
• 0: After the power is turned ON, execute auto-tuning and, when the load inertia calculations are com-
plete, use the data for control. Thereafter, do not perform auto-tuning again whenever the power is
turned ON. Make this setting if load inertia fluctuation is small.
• 1: Constantly refresh the load inertia calculation data and constantly store the responses. Make this
setting if load inertia fluctuates constantly.
• 2: Do not execute auto-tuning. Make this setting if you cannot use auto-tuning (see above), or if adjust-
ing the gain manually. Also set this parameter to 2 if load inertia fluctuation is small, and if, having once
calculated load inertia using auto-tuning (setting: 0), you wish to perform subsequent control using the
same conditions after having saved the auto-tuning results to memory (System Check Mode opera-
tion).
• Make this setting 0 or 2 if auto-tuning is disabled. (See above.)
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.
Pn110.1 Online auto-tuning setting –– Speed feedback compensation function selection (Position,
speed, internally-set speed control)
Setting 0, 1
range
Setting Explanation
Setting
0 Speed feedback compensation function ON
1 Speed feedback compensation function OFF
• This function shortens positioning time.
• Use this function to lower speed loop feedback gain, and to raise speed loop gain and position loop
gain. In this way, you can improve command responsiveness and shorten positioning time. Position-
ing time cannot be shortened, however, when external force is applied as with the vertical shaft, be-
cause responsiveness to external interference is lowered.
Unit ---
Unit ---
Default 2
setting
Explanation
Default 1
setting
Explanation
Chapter 4
Restart Yes
power?
Restart Yes
power?
4-55