Manual Tuning - Omron OMNUC R88D-WT15HF User Manual

Operation
H Online Auto-tuning Related User Parameters
Param-
Param-
eter t
eter
Digit
No.
name
No.
Pn100 Speed Adjusts speed loop responsiveness.
loop
gain
Pn101 Speed loop integration time constant
Speed
loop in-
tegra-
tion time
constant
Pn102 Posi- Adjusts position loop responsiveness.
tion
loop
gain
Pn103 Inertia Sets the ratio using the mechanical system inertia to Servomotor rotor
ratio inertia ratio.
Pn110 Online 0
auto-
tuning g
setting tti
1
2
3
Pn401 Sets the filter time constant for the internal torque command.
Torque
com-
mand fil-
ter time
constant
Note Refer to 4-4-4 Parameter Details for details of each parameter.
4-7-2

Manual Tuning

H Rigidity Settings During Online Auto-tuning (Fn001)
• If you set the rigidity during online auto-tuning, the gains corresponding to machine rigidity are set
automatically. Even if you adjust the gain as an initial setting using manual tuning, you can perform
tuning comparatively quickly, so we recommend setting the rigidity (Fn001) first.
• Select the rigidity setting to suit the mechanical system from the following 10 levels.
Note Refer to 4-11-2 Online Auto-tuning Related Functions for System Check Mode operations.
4-104
Explanation
Name Setting
Online 0 Turns ON the power supply, then
auto-tuning
performs auto-tuning on the RUN
selection
startup only.
1 Auto-tuning always ON.
2 Auto-tuning OFF.
Speed
0 ON
feedback
compensati compensati
1 OFF
on function
selection
Viscous
0 Friction compensation: OFF
friction f i ti
1 Friction compensation: Rated torque
compensati
ratio (small)
on function on function
2 Friction compensation: Rated torque
selection
ratio (large)
Not used. 0 Do not change the setting.
Default
setting
Explanation
80
2000
40
300
0012
40
Chapter 4
Unit Setting g
tti range
Hz 1 to
2000
x 15 to
0.01 ms 51200
1/s 1 to
2000
% 0 to
10000
--- ---
x 0 to
0.01 ms 65535
Restart
power
?
No
No
No
No
Yes
No