Omron G5 Series User Manual

9 - 7
9 Adjustment Functions
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
9-2 Realtime Autotuning
9
9-2-2 Setting Machine Rigidity
 Realtime Autotuning (RTAT) Parameter Table
Parameter
No.
Name
Autotuning Machine Rigidity Setting (Pn003)
0 1 2 3 4 5 6 7
Pn004 Inertia Ratio 1 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
3,700 2,800 2,200 1,900 1,600 1,200 900 700
Pn103 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0
Pn104 Torque Command Filter Time Constant
1,500 1,100 900 800 600 500 400 300
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
10,000 10,000 10,000 10,000 10,000 10,000 10,000 10,000
Pn108 Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0
Pn109 Torque Command Filter Time Constant 2
1,500 1,100 900 800 600 500 400 300
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 0 0 0 0 0
Pn113 Torque Feed-forward Command Filter 0 0 0 0 0 0 0 0
Pn114 Gain Switching Input Operating Mode
Selection
11111111
Pn115 Switching Mode in Position Control Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 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 0 0 0 0 0
Pn121 Gain Switching Delay Time in Speed
Control
00000000
Pn122 Gain Switching Level in Speed Control 0 0 0 0 0 0 0 0
Pn123 Gain Switching Hysteresis in Speed Control 0 0 0 0 0 0 0 0
Pn605Gain 3 Effective Time 00000000
Pn606 Gain 3 Ratio Setting 100 100 100 100 100 100 100 100
Pn607 Torque Command Value Offset Estimated torque command additional value
Pn608 Forward Direction Torque Offset Estimated forward torque compensation value
Pn609 Reverse Direction Torque Offset Estimated reverse torque compensation value
Pn610.0,
Pn610.3
Function Expansion Setting 0 0 0 0 0 0 0 0
Pn611 Electric Current Response Setting 100 100 100 100 100 100 100 100
Pn613 Inertia Ratio 2 0 0 0 0 0 0 0 0
Pn623 Disturbance Torque Compensation Gain 0 0 0 0 0 0 0 0
Pn624 Disturbance Observer Filter Setting 0 0 0 0 0 0 0 0

Omron G5 Series Specifications

General

Feedback	Incremental Encoder, Absolute Encoder
Communication	EtherCAT
Safety Function	STO (Safe Torque Off)
Protection Functions	Overvoltage, Undervoltage, Overcurrent
Vibration Resistance	4.9 m/s² (10 to 55 Hz)