Feed-Forward Amount; Feed-Forward Command Filter; Online Autotuning Setting – Online Autotuning Selection - Omron SMARTSTEP R7D-AP Series User Manual

Operation
Pn109

Feed-forward amount

Settings 0 to 100
• Sets the feed-forward compensation value during positioning.
• When performing feed-forward compensation, the effective servo gain increases, improving respon-
siveness. There is almost no effect, however, on systems where the position loop gain is sufficiently
high.
• Use this parameter to shorten positioning time.
Note Setting a high value may result in machine vibration. Set the feed-forward amount for general
machinery to 80% maximum. (Check and adjust machine response.)
Pn10A

Feed-forward command filter

Settings 0 to 6400
• Sets the feed-forward primary (lag) command filter during position control.
• If the positioning completed signal is interrupted (i.e., repeatedly turns ON and OFF) because of
performing feed-forward compensation, and speed overshooting is generated, solve the problem by
setting the primary lag filter.
Pn110.0 Online autotuning setting – Online autotuning selection
Settings 0 to 2
Setting Explanation
Setting
0 After the power is turned ON, autotuning is only performed for the initial operation.
1 Autotuning is always performed.
2 Autotuning is not used.
• Select the autotuning function you want to use.
• 0: After the power is turned ON, execute autotuning and, when the load inertia calculations are
complete, use the data for control. Thereafter, do not perform autotuning again whenever the power
is turned ON. Make this setting if load inertia fluctuation is small.
• 1: Constantly refresh the load inertia calculation data and constantly store the responses. Make this
setting if load inertia fluctuates constantly.
• 2: Do not execute autotuning. (This setting is recommended for general operation.)
Note If function switch 6 is OFF to enable the function switch settings, this parameter is ignored and
the setting on function switch 1 (online autotuning setting) is used.
4-20
Unit %
× 0.01 ms
Unit
Unit ---
Default 0
Default 0
Default 2
Explanation
Chapter 4
Restart? ---
Restart? ---
Restart? Yes