Omron ACCURAX G5 User Manual page 475

Realtime Autotuning (RTAT) Parameter Table
Parameter
number
Pn004 Inertia Ratio
Pn100 Position Loop Gain
Pn101 Speed Loop Gain
Pn102 Speed Loop Integral Time Constant
Pn103 Speed Feedback Filter Time Constant
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 30
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 0
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
Pn605 Gain 3 Effective Time
Pn606 Gain 3 Ratio Setting
Pn607 Torque Command Value Offset
Pn608 Forward Direction Torque Offset
Pn609 Reverse Direction Torque Offset
Pn610.0,
Pn610.3 Function Expansion Setting
Pn611 Electric Current Response Setting
Pn613 Inertia Ratio 2
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.
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter name
Estimated load inertia ratio
20
15
3700
0
*1
1500
25
15
10000 10000 10000 10000 10000 10000 10000 10000
0
*1
1500
300
50
0
0
1
For Pn002= 2,3,4 or 5: 10
For Pn002= 0 or 1: 0
50
33
33
0
0
0
0
0
0
0
0
100
Estimated if Pn002=3,4 or 5
Estimated If Pn002= 4 or 5
Estimated if Pn002= 4 or 5
0
100
0
0
0
10-2 Realtime Autotuning
AT Machine Rigidity Setting (Pn003)
0 1 2 3 4
25 30 40 45
20 25 30 35
2800 2200 1900 1600
0 0 0 0
1100 900 800 600
30 40 45 55
20 25 30 35
0 0 0 0
1100 900 800 600
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
30 30 30 30
50 50 50 50
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
100 100 100 100
0 0 0 0
100 100 100 100
0 0 0 0
0 0 0 0
0 0 0 0
5 6 7
55 75 95
45 60 75
1200 900 700
0 0 0
500 400 300
70 95 120
45 60 75
0 0 0
500 400 300
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
10
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
100 100 100
0 0 0
100 100 100
0 0 0
0 0 0
0 0 0
10-7