Omron R88D-1SN08H-ECT - 3 B80 Hex: Load Characteristic Estimation

9 Details on Servo Parameters
9 - 78
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the operation of the load characteristic estimation. Refer to 11-8 Load Characteristic Estimation on
page 11-18 for details.
• Selects whether to estimate load characteristics and update a value of the inertia ratio.
 Description of Set Values
• Selects whether to estimate load characteristics and update a value of the viscous friction coefficient.
9-7-15 3B80 hex: Load Characteristic Estimation
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3B80 --- Load Character-
istic Estimation
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- FF hex --- 1 byte
(U8)
RO --- --- ---
01 Inertia Ratio
Update Selection
0 to 1 --- 1 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Viscous Friction
Compensation
Update Selection
0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
03 Unbalanced
Load Compensa-
tion Update
Selection
0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
04 Dynamic Friction
Compensation
Update Selection
0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
05 Viscous Friction
Tuning Coeffi-
cient
0 to 200 % 100 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
06 Estimation Sensi-
tivity Selection
0 to 2 --- 1 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
FF Estimation Status --- --- --- --- 4 bytes
(INT32)
RO --- --- ---
Subindex 01 hex: Inertia Ratio Update Selection
Set
value
Description
0 Use the present set value.
1 Update with the estimation result.
Subindex 02 hex: Viscous Friction Compensation Update Selection
Set
value
Description
0 Use the present set value.
1 Update with the estimation result.