Omron R88D-KN ML2 Sries User Manual page 387

Parameter
number
Pn004 Inertia Ratio
Pn100 Position Loop Gain 1
Pn101 Speed Loop Gain 1
Pn102 Speed Loop Integral Time Constant 1
Pn103 Speed Feedback Filter Time Constant 1
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
Pn114
mode Selection
Pn115 SWITCHING mode in Position Control
Pn116 Gain Switching Delay Time in Position Control
Pn117 Gain Switching Level in Position Control
Gain Switching Hysteresis in Position
Pn118
Control
Pn119 Position Gain Switching Time
Pn120 SWITCHING mode in Speed Control
Pn121 Gain Switching Delay Time in Speed Control
Pn122 Gain Switching Level in Speed Control
Pn123 Gain Switching Hysteresis in Speed Control
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
Pn607 Torque Command Value Offset
Pn608 Forward Direction Torque Offset
Pn609 Reverse Direction Torque Offset
Pn610.0,
Function Expansion Setting
Pn610.1
Pn623 Disturbance Torque Compensation Gain
Pn624 Disturbance Observer Filter Setting
*1. This is limited at the 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.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Parameter name
*1
*2
10000 10000 10000 10000 10000 10000 10000 10000
*1
10-3 Realtime Autotuning
AT Machine Rigidity Setting (Pn003)
8 9 10 11 12
Estimated load inertia ratio
115 140 175 320 390
90 110 140 180 220
600 500 400 310 250
0 0 0 0 0
300 200 200 126 103
140 175 220 380 460
90 110 140 180 220
0 0 0 0 0
300 200 200 126 103
300 300 300 300 300
50 50 50 50 50
0 0 0 0 0
0 0 0 0 0
1 1 1 1 1
GAIN SWITCHING ENABLE mode: 10
GAIN SWITCHING DISABLE mode: 0
30 30 30 30 30
50 50 50 50 50
33 33 33 33 33
33 33 33 33 33
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 0 0
0 0 0 0 0
0 0 0 0 0
Estimated torque command additional value
Estimated forward direction torque compensation
Estimated reverse direction torque compensation
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
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
30 30 30
50 50 50
33 33 33
33 33 33
0 0 0
0 0 0
0 0 0
10
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
10-10