Omron R88D-KN ML2 Sries - Page 22

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Table Of Contents
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Parameters Requiring Settings.................................................................................. 10-1
10-2 Gain Adjustment .................................................................................. 10-4
Purpose of the Gain Adjustment................................................................................ 10-4
Gain Adjustment Methods ......................................................................................... 10-4
Gain Adjustment Procedure ...................................................................................... 10-5
10-3 Realtime Autotuning ............................................................................ 10-6
Parameters Requiring Settings.................................................................................. 10-7
Setting Realtime Autotuning ...................................................................................... 10-7
Setting Machine Rigidity ............................................................................................ 10-8
10-4 Manual Tuning ................................................................................... 10-13
Basic Settings.......................................................................................................... 10-13
10-5 Damping Control................................................................................ 10-21
Outline of Operation ................................................................................................ 10-21
Parameters Requiring Settings................................................................................ 10-22
10-6 Adaptive Filter.................................................................................... 10-25
Parameters Requiring Settings................................................................................ 10-26
Operating Procedure ............................................................................................... 10-27
10-7 Notch Filter ........................................................................................ 10-28
Parameters Requiring Settings................................................................................ 10-29
10-8 Disturbance Observer Function ......................................................... 10-31
Operating Conditions............................................................................................... 10-31
Parameters Requiring Settings................................................................................ 10-32
Operating Procedure ............................................................................................... 10-32
10-9 Friction Torque Compensation Function............................................ 10-33
Operating Conditions............................................................................................... 10-33
Parameters Requiring Settings................................................................................ 10-33
Operation Example.................................................................................................. 10-34
10-10 Hybrid Vibration Suppression Function ............................................ 10-35
Operating Conditions............................................................................................... 10-35
Parameters Requiring Settings................................................................................ 10-35
Operating Procedure ............................................................................................... 10-35
10-11 Feed-forward Function...................................................................... 10-36
Parameters Requiring Settings................................................................................ 10-36
Operating Procedure ............................................................................................... 10-37
10-12 Instantaneous Speed Observer Function ......................................... 10-39
Operating Conditions............................................................................................... 10-39
Parameters Requiring Settings................................................................................ 10-39
Operating Procedure ............................................................................................... 10-40
Chapter11 Error and Maintenance
11-1 Error Processing .................................................................................. 11-1
Preliminary Checks When a Problem Occurs ........................................................... 11-1
Precautions When a Problem Occurs ....................................................................... 11-2
Replacing the Servomotor and Servo Drive .............................................................. 11-3
11-2 Warning ............................................................................................... 11-4
Warning List............................................................................................................... 11-4