Omron ACCURAX G5 - Page 476

10-8
10-2 Realtime Autotuning
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10
Adjustment Functions
*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)
8 9 10 11 12 13 14 15
Pn004 Inertia Ratio Estimated load inertia ratio
Pn100 Position Loop Gain 115 140 175 320 390 480 630 720
Pn101 Speed Loop Gain 90 110 140 180 220 270 350 400
Pn102 Speed Loop Integral Time Constant 600 500 400 310 250 210 160 140
Pn103
Speed Feedback Filter Time Constant 00000000
Pn104 Torque Command Filter Time Constant 1
*1
300 200 200 126 103 846557
Pn105 Position Loop Gain 2 140 175 220 380 460 570 730 840
Pn106 Speed Loop Gain 2 90 110 140 180 220 270 350 400
Pn107 Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000
Pn108 Speed Feedback Filter Time Constant 2 0 0000000
Pn109 Torque Command Filter Time Constant 2
*1
300 200 200 126 103 846557
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 0000000
Pn113 Torque Feed-forward Command Filter 0 0000000
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 0000000
Pn121
Gain Switching Delay Time in Speed Control 00000000
Pn122 Gain Switching Level in Speed Control 0 0000000
Pn123 Gain Switching Hysteresis in Speed Control 0 0000000
Pn124 SWITCHING mode in Torque Control 0 0000000
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 0000000
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 00000000
Pn611 Electric Current Response Setting 100 100 100 100 100 100 100 100
Pn613 Inertia Ratio 2 0 0000000
Pn623 Disturbance Torque Compensation Gain 0 0000000
Pn624 Disturbance Observer Filter Setting 0 0000000