Omron ACCURAX G5 User Manual page 478

10-2 Realtime Autotuning
Parameter
number
Pn004
Pn100
Pn101
Pn102
Pn103
Pn104
Pn105
Pn106
Pn107
Pn108
Pn109
Pn110
Pn111
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn119
Pn120
Pn121
Pn122
10
Pn123
Pn124
Pn125
Pn126
Pn127
Pn605
Pn606
Pn607
Pn608
Pn609
Pn610.0,
Pn610.3
Pn611
Pn613
Pn623
Pn624
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
The parameters Pn103, Pn108, Pn110 to Pn127, Pn605, Pn606, Pn610, Pn611, Pn613, Pn623
and Pn624 are set to fixed values.
10-10
Parameter name
Inertia Ratio
Position Loop Gain
Speed Loop Gain
Speed Loop Integral Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant 1
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integral Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
Speed Feed-forward Amount
Speed Feed-forward Command Filter
Torque Feed-forward Amount
Torque Feed-forward Command Filter
GAIN SWITCHING INPUT OPERATING
mode Selection
SWITCHING mode in Position Control
Gain Switching Delay Time in Position Control 30
Gain Switching Level in Position Control
Gain Switching Hysteresis in Position
Control
Position Gain Switching Time
SWITCHING mode in Speed Control
Gain Switching Delay Time in Speed Control
Gain Switching Level in Speed Control
Gain Switching Hysteresis in Speed Control 0
SWITCHING mode in Torque Control
Gain Switching Delay Time in Torque
Control
Gain Switching Level in Torque Control
Gain Switching Hysteresis in Torque
Control
Gain 3 Effective Time
Gain 3 Ratio Setting
Torque Command Value Offset
Forward Direction Torque Offset
Reverse Direction Torque Offset
Function Expansion Setting
Electric Current Response Setting
Inertia Ratio 2
Disturbance Torque Compensation Gain
Disturbance Observer Filter Setting
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
AT Machine Rigidity Setting (Pn003)
24 25 26 27
Estimated load inertia ratio
4490 5000 5600 6100
2500 2800 3100 3400
40 35 30 30
0 0 0 0
*1
9 8 7 7
5240 5900 6500 7100
2500 2800 3100 3400
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0
*1
9 8 7 7
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
For Pn002= 2,3,4 or 5: 10
For Pn002= 0 or 1: 0
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
100 100 100 100
Estimated if Pn002=3,4 or 5
Estimated If Pn002= 4 or 5
Estimated if Pn002= 4 or 5
0 0 0 0
100 100 100 100
0 0 0 0
0 0 0 0
0 0 0 0
28 29 30 31
6600 7200 8100 9000
3700 4000 4500 5000
25 25 20 20
0 0 0 0
6 6 5 5
7700 8400 9400 10500
3700 4000 4500 5000
0 0 0 0
6 6 5 5
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