Omron R88D-KN02H-ECT-R User Manual

11-10
11-3 Realtime Autotuning
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11
Adjustment Functions
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
Index Name
AT Machine Rigidity Setting (3003 hex)
8 9 10 11 12 13 14 15
3004 hex Inertia Ratio Estimated load inertia ratio
3100 hex Position Loop Gain 1 115 140 175 320 390 480 630 720
3101 hex Speed Loop Gain 1 90 110 140 180 220 270 350 400
3102 hex Speed Loop Integral Time Constant 1 600 500 400 310 250 210 160 140
3103 hex
Speed Feedback Filter Time
Constant 1
00000000
3104 hex
Torque Command Filter Time
Constant 1
*1
300 200 200 126 103 84 65 57
3105 hex Position Loop Gain 2 140 175 220 380 460 570 730 840
3106 hex Speed Loop Gain 2 90 110 140 180 220 270 350 400
3107 hex Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000
3108 hex
Speed Feedback Filter Time
Constant 2
00000000
3109 hex
Torque Command Filter Time
Constant 2
*1
300 200 200 126 103 84 65 57
3110 hex Speed Feed-forward Gain 300 300 300 300 300 300 300 300
3111 hex Speed Feed-forward Command Filter 50 50 50 50 50 50 50 50
3112 hexTorque Feed-forward Gain 00000000
3113 hex
Torque Feed-forward Command
Filter
00000000
3114 hex
Gain Switching Input Operating Mode
Selection
11111111
3115 hex Switching Mode in Position Control
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
3116 hex
Gain Switching Delay Time in
Position Control
30 30 30 30 30 30 30 30
3117 hex
Gain Switching Level in Position
Control
50 50 50 50 50 50 50 50
3118 hex
Gain Switching Hysteresis in Position
Control
33 33 33 33 33 33 33 33
3119 hex Position Gain Switching Time 33 33 33 33 33 33 33 33
3607 hex Torque Command Value Offset Estimated if object 3002 hex = 3.
3608 hex Forward Direction Torque Offset Estimated if object 3002 hex = 4.
3609 hex Reverse Direction Torque Offset Estimated if object 3002 hex = 4.
3610 hex.0,
3610 hex.1
Function Expansion Setting 00000000
3623 hex
Disturbance Torque Compensation
Gain
00000000
3624 hexDisturbance Observer Filter Setting00000000

Omron R88D-KN02H-ECT-R Specifications

General

Brand	Omron
Model	R88D-KN02H-ECT-R
Category	Servo Drives
Language	English