Omron OMNUC G Series User Manual page 345

Realtime Autotuning (RTAT) Parameter Tables
Parameter
Parameter name
No.
Pn010 Position Loop Gain
Pn011 Speed Loop Gain
Speed Loop Integration Time
Pn012
Constant
Speed Feedback Filter Time
Pn013
Constant
Torque Command
Pn014
Filter Time Constant
Pn015 Speed Feed-forward Amount
Feed-forward Filter Time
Pn016
Constant
Pn017 Reserved
Pn018 Position Loop Gain 2
Pn019 Speed Loop Gain 2
Speed Loop Integration Time
Pn01A
Constant 2
Speed Feedback Filter Time
Pn01B
Constant 2
Torque Command Filter Time
Pn01C
*1
Constant 2
Pn020 Inertia Ratio
Instantaneous Speed
Pn027
Observer Setting
Gain Switching
Pn030
Operating Mode Selection
Pn031 Gain Switch Setting
Pn032 Gain Switch Time
Pn033 Gain Switch Level Setting
Pn034 Gain Switch Hysteresis Setting
Position Loop Gain Switching
Pn035
Time
AT Mode Selection
(Pn021)
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*1
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1, 2, 3, 7
4, 5, 6
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1 to 6
*3
7
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5-27 Details on Important Parameters
AT Machine Rigidity Selection (Pn022)
0 1 2 3
120 320 390 480
90 180 220 270
620 310 250 210
0 0 0 0
253 126 103 84
300 300 300 300
50 50 50 50
0 0 0 0
190 380 460 570
90 180 220 270
10000 10000 10000 10000 10000 10000 10000 10000
9999 9999 9999 9999 9999 9999 9999 9999
0 0 0 0
253 126 103 84
Estimated load inertia ratio
0 0 0 0
1 1 1 1
10 10 10 10
0 0 0 0
30 30 30 30
50 50 50 50
33 33 33 33
20 20 20 20
4 5 6 7
630 720 900 1080
350 400 500 600
160 140 120 110
0 0 0 0
65 57 45 38
300 300 300 300
50 50 50 50
0 0 0 0
730 840 1050 1260
350 400 500 600
0 0 0 0
65 57 45 38
0 0 0 0
1 1 1 1
10 10 10 10
0 0 0 0
30 30 30 30
50 50 50 50
33 33 33 33
20 20 20 20
5-90
5