Omron ACCURAX G5 - Page 475

10-7
10-2 Realtime Autotuning
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10
Adjustment Functions
Realtime Autotuning (RTAT) Parameter Table
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
Parameter
number
Parameter name
AT Machine Rigidity Setting (Pn003)
0 1 2 3 4 5 6 7
Pn004 Inertia Ratio Estimated load inertia ratio
Pn100 Position Loop Gain 20 25 30 40 45 55 75 95
Pn101 Speed Loop Gain 15 20 25 30 35 45 60 75
Pn102 Speed Loop Integral Time Constant 3700 2800 2200 1900 1600 1200 900 700
Pn103 Speed Feedback Filter Time Constant 0 0 0 00000
Pn104 Torque Command Filter Time Constant 1
*1
1500 1100 900 800 600 500 400 300
Pn105 Position Loop Gain 2 25 30 40 45 55 70 95 120
Pn106 Speed Loop Gain 2 15 20 25 30 35 45 60 75
Pn107 Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000
Pn108 Speed Feedback Filter Time Constant 2 0 0 0 00000
Pn109 Torque Command Filter Time Constant 2
*1
1500 1100 900 800 600 500 400 300
Pn110 Speed Feed-forward Amount 300 300 300 300 300 300 300 300
Pn111
Speed Feed-forward Command Filter 50 50 50 50 50 50 50 50
Pn112 Torque Feed-forward Amount 0 0 0 00000
Pn113 Torque Feed-forward Command Filter 0 0 0 00000
Pn114
GAIN SWITCHING INPUT OPERATING
mode Selection
11111111
Pn115 SWITCHING mode in Position Control
For Pn002= 2,3,4 or 5: 10
For Pn002= 0 or 1: 0
Pn116
Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30
Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50
Pn118
Gain Switching Hysteresis in Position
Control
33 33 33 33 33 33 33 33
Pn119 Position Gain Switching Time 33 33 33 33 33 33 33 33
Pn120 SWITCHING mode in Speed Control 0 0 0 00000
Pn121
Gain Switching Delay Time in Speed Control 00000000
Pn122 Gain Switching Level in Speed Control 0 0 0 00000
Pn123 Gain Switching Hysteresis in Speed Control 0 0 0 00000
Pn124 SWITCHING mode in Torque Control 0 0 0 00000
Pn125
Gain Switching Delay Time in Torque
Control
00000000
Pn126
Gain Switching Level in Torque Control 00000000
Pn127
Gain Switching Hysteresis in Torque
Control
00000000
Pn605 Gain 3 Effective Time 0 0 0 00000
Pn606 Gain 3 Ratio Setting 100 100 100 100 100 100 100 100
Pn607 Torque Command Value Offset Estimated if Pn002=3,4 or 5
Pn608 Forward Direction Torque Offset Estimated If Pn002= 4 or 5
Pn609 Reverse Direction Torque Offset Estimated if Pn002= 4 or 5
Pn610.0,
Pn610.3 Function Expansion Setting 0 0 0 00000
Pn611 Electric Current Response Setting 100 100 100 100 100 100 100 100
Pn613 Inertia Ratio 2 0 0 0 00000
Pn623 Disturbance Torque Compensation Gain 0 0 0 00000
Pn624 Disturbance Observer Filter Setting 0 0 0 00000