Omron OMNUC G Series User Manual

5-90
5-27 Details on Important Parameters
Operating Functions
5
Realtime Autotuning (RTAT) Parameter Tables
Parameter
No.
Parameter name
AT Mode Selection
(Pn021)
AT Machine Rigidity Selection (Pn022)
0 1 2 3 4 5 6 7
Pn010 Position Loop Gain --- 120 320 390 480 630 720 900 1080
Pn011 Speed Loop Gain --- 90 18 0 220 270 350 400 500 600
Pn012
Speed Loop Integration Time
Constant
--- 620 310 250 210 160 140 120 110
Pn013
Speed Feedback Filter Time
Constant
--- 00000000
Pn014
Torque Command
Filter Time Constant
*1
--- 253 126 103 8465574538
Pn015 Speed Feed-forward Amount --- 300 300 300 300 300 300 300 300
Pn016
Feed-forward Filter Time
Constant
--- 50 50 50 50 50 50 50 50
Pn017Reserved --- 00000000
Pn018 Position Loop Gain 2 --- 190 380 460 570 730 840 1050 1260
Pn019 Speed Loop Gain 2 --- 90 180 220 270 350 400 500 600
Pn01A
Speed Loop Integration Time
Constant 2
1, 2, 3, 7 10000 10000 10000 10000 10000 10000 10000 10000
4, 5, 6 9999 9999 9999 9999 9999 9999 9999 9999
Pn01B
Speed Feedback Filter Time
Constant 2
--- 00000000
Pn01C
Torque Command Filter Time
Constant 2
*1
--- 253 126 103 8465574538
Pn020 Inertia Ratio --- Estimated load inertia ratio
Pn027
Instantaneous Speed
Observer Setting
--- 00000000
Pn030
Gain Switching
Operating Mode Selection
--- 11111111
Pn031 Gain Switch Setting
*3
1 to 6 1010101010101010
7 00000000
Pn032 Gain Switch Time --- 30 30 30 30 30 30 30 30
Pn033 Gain Switch Level Setting --- 50 50 50 50 50 50 50 50
Pn034 Gain Switch Hysteresis Setting --- 33 33 33 33 33 33 33 33
Pn035
Position Loop Gain Switching
Time
--- 20 20 20 20 20 20 20 20

Omron OMNUC G Series Specifications

General

Brand	Omron
Model	OMNUC G Series
Category	Servo Drives
Language	English