Omron OMNUC G Series User Manual page 393

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
*2
Constant 2
Pn020 Inertia Ratio
Instantaneous Speed
Pn027
Observer Setting
Gain Switching Operating Mode
Pn030
Selection
Pn031 Gain Switch Setting
Pn032 Gain Switch Time
Pn033 Gain Switch Level Setting
Gain Switch Hysteresis
Pn034
Setting
Position Loop Gain Switching
Pn035
Time
 Parameters Pn015, 016, 01A, 030, and 032 to 035 are set to fixed values. The Servo Drive is set to rigidity No.2
as the default value.
*1. The lower limit is set to 10 when using a 17-bit encoder and 25 when using a 2,500-p/r encoder.
*2. The value for a 17-bit absolute encoder. The value for a 2500-p/r incremental encoder is 25.
*3. The default setting for the Servo Drive is 2 (switching from the network).
AT Mode Selection
(Pn021)
---
---
---
---
---
*1
---
---
---
---
---
1, 2, 3, 7
4, 5, 6
---
---
---
---
---
1 to 6
*3
7
---
---
---
---
7-2 Realtime Autotuning
AT Machine Rigidity Selection (Pn022)
8 9 A B
1350 1620 2060 2510 3050 3770 4490 5570
750 900 1150 1400 1700 2100 2500 3100
90 80 70 60
0 0 0 0
*2 *2
30 25 20 16 13
300 300 300 300 300
50 50 50 50
0 0 0 0
1570 1820 2410 2930 3560 4400 5240 6490
750 900 1150 1400 1700 2100 2100 3100
10000 10000 10000 10000 10000 10000 10000 10000
9999 9999 9999 9999 9999 9999 9999 9999
0 0 0 0
*2 *2
30 25 20 16 13
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
C D E F
50 40 40 30
0 0 0 0
*2 *2 *2 *2
11 10 10
300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
*2 *2 *2 *2
11 10 10
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
7-8
7