Omron R88D-KN series User Manual

11-11
11 Adjustment Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-3 Realtime Autotuning
11
11-3-4 Setting Machine Rigidity
Realtime Autotuning Object Table
Rigidity
Gain 1 Gain 2
3100 hex 3101 hex 3102 hex 3104 hex 3105 hex 3106 hex 3107 hex 3109 hex
Position
[0.1/s]
Speed
[0.1 Hz]
Speed
Integral
[0.1 ms]
Force
[0.01 ms]
Position
[0.1/s]
Speed
[0.1 Hz]
Speed
Integral
[0.1 ms]
Force
[0.01 ms]
0 20 15 3700 1500 25 15 10000 1500
1 25 20 2800 1100 30 20 10000 1100
2 30 25 2200 900 40 25 10000 900
3 40 30 1900 800 45 30 10000 800
4 45 35 1600 600 55 35 10000 600
5 55 45 1200 500 70 45 10000 500
6 75 60 900 400 95 60 10000 400
7 95 75 700 300 120 75 10000 300
8 115 90 600 300 140 90 10000 300
9 140 110 500 200 175 110 10000 200
10 175 140 400 200 220 140 10000 200
11 320 180 310 126 380 180 10000 126
12 390 220 250 103 460 220 10000 103
13 480 270 210 84 570 270 10000 84
14 630 350 160 65 730 350 10000 65
15 720 400 140 57 840 400 10000 57
16 900 500 120 45 1050 500 10000 45
17 1080 600 110 38 1260 600 10000 38
18 1350 750 90 30 1570 750 10000 30
19 1620 900 80 25 1880 900 10000 25
20 2060 1150 70 20 2410 1150 10000 20
21 2510 1400 60 16 2930 1400 10000 16
22 3050 1700 50 13 3560 1700 10000 13
23 3770 2100 40 11 4400 2100 10000 11
24 4490 2500 40 9 5240 2500 10000 9
25 5000 2800 35 8 5900 2800 10000 8
26 5600 3100 30 7 6500 3100 10000 7
27 6100 3400 30 7 7100 3400 10000 7
28 6600 3700 25 6 7700 3700 10000 6
29 7200 4000 25 6 8400 4000 10000 6
30 8100 4500 20 5 9400 4500 10000 5
31 9000 5000 20 5 10500 5000 10000 5

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English